Eh...Levi is a bit prickly, especially when it comes to humans. Hugging her right off the bat is going to result in 
A: Thrown off the nearest clifff
B: Hanging upside down from a tree
Or,
C: Being electrocuted and turned into crispy human bacon 
It'll take her awhile to warm up to any humans.

As for Claire...well, she won't really mind as long as you don't get in her way or do it often enough to get annoying. Despite the way I probably made her sound, she's fairly lax, she just doesn't like messing around and prefers to always have something to do.