It shouldn't have to be spelt out to you that it is the best interests of your child to keep in regular communication with their teacher. Don't you want to know what's going on in your child's life?
This is ridiculous, I know what is going on in my child's life by talking to my child, as do many many parents. Those people who want to check in about their child every day, every week whatever - go for it, but not doing it is not failing in your duty as a parent, unless the school has explicitly stated that you should be doing this. Beginning and mid term sounds ideal to me, but even if you haven't met them then doesn't absolve them of their responsibility to keep you informed.

As I said I don't check in with kinder all the time, I ask DD, they send home 'learning stories', I am very interested in what she is doing, but her view is what is important and unless there is an issue I don't need to speak to the various teachers there, some of who I have never met.