My helper says all greetings like good morning, good afternoon, good evening, good night, "mum, I eat now". When we go outside, e.g. walking in a shopping centre, she helps me push the door and carries my handbags, etc. In this sense, she is good enough.
Some do and some don't. When my maid doesn't greet me "good morning", I'll still say "good morning" to her every morning. She ususally will pick up. But for those who didn't pick up on this even after I greeted them many mornings, I would directly request them to greet my family in the morning.