I have very friendly kiddos- social  and actually prefer to chat up adults vs other kids most of the time.
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A few things I have used are to role play and then not go into detail on WHY we dont get into cars (just a basic- little kids should ride in cars with people they know vs the reality of predatory people):
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They know that
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1. It is friendly to say hello to people, but give them personal space
2. Ask before you hug/touch (and discussed what are good touches/bad touches in relation to age)
3. Ask a trusted grown-up (parent, grandparent, friends mom) if you have questions
4. review if you get lost in a store to look for uniforms (workers) not strangers
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At 3,4,5 this has worked. My kiddos have kept their friendly, social spirits without fear of what strangers will do. They are able to keep that bubbly conversation that they crave, but we have set a few limits. We have been careful on wording due to one DD being exceptionally sensitive to nightmares/internalizing fears/dislike of scary or intense themes.
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As they get older- I will have to expand on it. But for now- I am OK with them talking to strangers as long as they have a known adult nearby.Â
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We do a lot of 'pretend' play.....if you are ina store and get lost, if you are in a park and dont see your trusted grown-up, etc. It is great for this age and gives them tools to use w/o the fear element.