it can be awkward at times with kids around regardless of their age, you just have to subtly change things.
for eg,instead of asking to go to the bathroom i casually mention i need the bathroom then he will either nod or shake his head.
instead of saying can i? say maybe i should? instead of him/her saying do he/she can say id appreciate if, or would you mind doing such and such.
i have 4 kids so its not always easy sometimes you just have to put things on hold,drop some routines and adapt others.
and a word of advice...never assume a padlocked toybox will keep your kids out! my teen son is great with hairpins
playtime can sometimes be difficult too and it's more than likely that at sometime you're going to have a close shave,(ive been abruptly thrown behind the sofa,pushed into closets and locked outdoors on more than one occasion lol) just be prepared and take every precaution you can possibly think of.