Every time my DD goes #1, we always ask her to do #2. She usually tries. And she knows that if she doesn't, that's OK.
FYI, every kid is different. My SIL's kids (3 boys) all pretty much trained themselves by age 2, skipping from diapers to underwear without any pull-ups. My sisters kids (3 boys) were each nearly 4 by the time they stopped hiding to go #2 in their pants. #1 was no problem, but #2 was a challenge with each boy.
With DD, we started putting her on the toilet (never a potty) before and after every meal, before and after every trip, and before and after her bath, starting around age 2. She only started telling us "I have to go" around 2-1/4 years. We didn't fight with her about it (we moved and didn't want to add further stress), we just asked until it got to the point where she would automatically head to the bathroom before putting on her shoes and jacket to go outside. At 2-1/2, she only wore pull-ups for nap time, nights, and long drives. We stopped buying pull-ups when she stopped wetting her pull-up at night. When they ran out (about a month later), she started sleeping in underwear. She fully transitioned to underwear before her 3rd birthday. And she doesn't ask for our help when she goes any more. It's a partial victory -- she's had a couple pairs of underwear with "racing stripes" from ineffective wiping... But I'd rather deal with that than a full load in a pull-up.