I actually think the tip about asking is really useful for one specific reason - and it totally might not apply to you. Engineers can be extremely unaware of social cues. I feel confident I can judge my time and place and phrase my compliments such that I don't feel like I need to ask first - or atleast that I'm a good enough judge of context to know when I need to ask first. I'm pretty good at getting to know people and I'm very good at coming across open and well intentioned. To use a wanky term - I'm good at building trusted relationships.

However some people really struggle with social interactions and judging situations. The advice about asking is really valuable for someone who isn't quite as good at judging complex situations. It's simple - just ask! It might not apply to everyone.