Normalizing this habit into Your dynamic is a bonding experience.
But it does take adjustment! No it's not easy. Physically or mentally. It takes a strong, loving dynamic to accomplish. And so worth it!
Mattress pads - spilling is to be expected when training to drink from the source. Washing a soiled mattress pad is easier than trying to clean the actual mattress.
Keep a journal - track your Owners habits. Learn His bladder. Whenever possible, make yourself available to Him before its time to drink.
Secret Code - (for advanced drinkers) create a code word or gesture for public use. Something as simple as a double tap on the hand maybe. It's up to Him. To signal you it's time to drink.
Taste conditioning - it does take some getting used to. Save some of His fluid in a bottle to sip on throughout the day. Pour a few capfuls into your drinks. In a short time, you will come to crave His flavor.