I love developing these basic understandings at liberty with all the horses I work with. It makes a huge difference when they have a say about what is happening: if they understand, if they're anxious, if they're confused or frustrated...it's easier to see and therefore clearer to explain to the horses. It's not fair to the horse for them not to be asked how they are experiencing the interaction between me and them. It's so worth some time to develop!
Consider this: Kali has a lovely education under saddle, in a carriage, AND at liberty! What a beautiful and rich program between horses and humans!