Did you realize your parents were frugal growing up?
Not a younger age (except being bummed we didn't go out to eat fast food after church every Sunday like my best friend did). At about high school, maybe - but I also started to get to know some friends who were much poorer than me at that time, and I realized while some people did have more than us, we actually had more than quite a few of my friends. (Note: I moved a lot growing up, so it's not like I knew these people all my life and had a sudden epiphany.)
Did they openly explain/teach their methods of saving money to you
Certain aspects, yes, they were clear we didn't buy lots of things in order to save money for retirement and that they had budgets for things. They didn't explain everything, but enough, and I could always ask questions if I wanted. I also knew at some point my dad invested in stocks (at least 7th grade, because we had a class project related to it, which I asked dad for help on but he got frustrated that the artificial "rules" were more restrictive than real life).
Did you think you were poor/lower class growing up?
Not at all - I always saw us as middle class. We had anything we needed, and some things we wanted. (It just sometimes took a bit to me to realize that some "needs" were really "wants". I don't think we went around asking for lots of stuff, but my sister probably did more of it than me or my brother.) This came home to me in high school, when a friend's parents had to declare bankruptcy. I did in high school realize there were people wealthier than us, but until then it didn't really register.
[ETA: As an adult, I'm actually by some things kids DO demand from parents. DH's sister apparently demanded they turn her closet into a bathroom at one point, which I think is an incredibly outlandish request to make. (MIL, a single mom, refused, but according to DH, sister was truly a pain about it.)]
Did you enjoy or dislike their methods as a child?
I thought it was pretty fair for the most part.
My sister was probably frustrated that she didn't get more clothes! I cared less about clothes, so the shopping we did was fine enough for me. I do remember once absolutely HATING a pair of pants we ordered online (living in AK at the time - shopping was harder) but thinking I couldn't say anything because it would waste money to return it or not wear it. I told mom that 20 years later and she felt a little bad that I didn't think I could say it to her.
But they agreed to most activities for us, even ones I thought they'd say no to (swim team on top of many other music related activities in high school, and early admission/classes to UCSD my senior year in high school - in retrospect though, had I stayed and gone to UCSD, I probably could have saved a bunch by paying for one less term).
They just didn't said yes to much "stuff" except for reasonable Christmas/holiday presents.
And I didn't really notice whether we ate fancy food or not at home - we just always had plenty of food, and some favorite treats. It also was just "what we did" for not eating out much - I knew it was a treat, but I didn't think there was a lot of life other than that.
I did hate sharing a room with my sister for many years though. In high school, we voluntarily shared two rooms (we both wanted a particular one) for 9 months before my mom was the one to call halts to that experiment!