I think its good to encourage them to ask so they know not to help themselves at other peoples houses too. Also you don't want them getting themselves filling snacks just before dinner or high energy stuff just before bedtime...
Mine ask for food, yep. Some days they just go help themselves to a piece of fruit without asking but that's cool with me.
They don't ask for drinks cause their water bottles are filled and either in the fridge or around the house where they left it last.
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