I think a lot of this stuff is best learnt through experience and so i would talk to my children about it when it comes up, when it can be applied to something they are experiencing.
Children do, however, learn a lot through play and stories. You could try acting out scenes with puppets, or acting it out yourselves and then talk about the situation. You might be able to find some stories that are relevant to the situation.

I feel the same about wanting to teach my children aboug this stuff but they probably wont really appreciate it until they need it later.