I have found that mentoring through these moments helps. So I'll blearily get up and walk with the kid to the kitchen and make sure they have access to a cup for the water, and coach them through getting some water, and heading back to bed.
Sometimes it's just an excuse for some time together, but usually it's a real teachable moment. (A teachable moment which invariably repeats five or more times because their little brains aren't developed yet.)
For the stuff that is just an excuse to spend time together, I try to ramp up my "time together game of chicken" during our bedtime routine. That is, I try to spend more time at bedtime, but with the goal of both satisfying that need, while also being the least interesting person on the plant (at least during bedtime).