Do you teach your little ones manners about how to ask for milk and how to nurse? If so, when and how do you teach?

My son is only three months old and we don't need nursing manners yet, but I've seen little ones pull up mum's shirt and try to latch in public and one of my girlfriend's five month old wants to look around and pulls down mum's wrap in the middle of nursing. I don't use a wrap - but I don't want my son to pull up my shirt in public. I'm thinking ahead.