Having it so your baby can ask for milk long before they get upset or too hungry is great, having them tell you that they're finished eating is much better than having them just throw food on the ground ;) Babies are cognitively capable of communicating they just haven't developed the skills for speech yet.
This! We started baby sign and could communicate these basics with our daughter before she was a year old. It might not sound like much to start communicating 6 months earlier, but I can only describe it thusly: awesome.