K.B.
It took a while for my kids to consistently go without asking. In the beginning, we used a timer to remind them to go and we extended the time as they got more proficient. Then when that looked good, we stopped the timer and told them they needed to go when they had to without the timer and we would do friendly reminders when it seemed like they hadn't gone in a while. (Although, if we were going out, we'd make them go anyway.) If they started to regress and have a pee pee accidents, they went back on timer for a day.
Now, they just like to wait until the last minute and go running to the bathroom. Or use it as a delay tactic....like going a second time at bedtime.