I've always thanked the coaches and offered to help however I can. I've asked them if there is stuff they want my kids to be working on at home - but also never really pushed my kids to do more than they want to do. I figured youth sports is about them. If they want to practice and get better, I'm there for them. If being on the team is more about the social element and participating and they don't want to practice outside of official team practices, I'm good with that too.
Only time I've complained to a coach is the situation I mentioned above - where the coach was seeming to sit my son during games due to his issues with the league and having my son on the team - which was contrary to the league rules. So I felt I was advocating for my son in that situation more than criticizing the coach.