S.C.
It sounds like your kids are very healthy and you're handling it well. Kids are supposed to experience the world in an egocentric way at various times in their lives.
Kids who dont have that opportunity to say "mememe" dont get a strong sense of self. The result ranges from depression to Narcissism. Narcissism especially is tied to not having an opportunity to experience this egocentric world.
The wonderful news is that going through these very anti-social behaviors at a young age is half the equation to a healthy adult. At some point they turn outwards instead of inwards. The trick? You. Modeling behavior is 90% of the battle.
There are times when we need our kids to "come here right now." But are you patient with them. Do you give them the opportunity by saying :Mommy needs to leave, but I'll wait five minutes until you're done." It works.
The way to get kids to say please, thank you, and I'll wait, is to say those words to them. Often.