Buoyancy and trim are the foundations of all the skills. As others have said, you don't need to be on scuba to introduce them. In the pool or in confined water all that's needed are mask, fins, snorkel, and (depending on the student) a weight belt with a few lbs of weights.
When you start off with breath-hold dives and have the student swim along the bottom neutral and in trim, that's when you introduce the principle of swimming that way. Before that a proper weight check is required. Not a "here's 5-10% of what you weigh" check but an actual check.
You get the student to the point where they can dive down, settle for 10 seconds or so (long enough to shoot a photo say) and then in a relaxed manner using lung volume stay there for another few seconds before doing a controlled ascent. In my experience getting most people who are comfortable in the water to this point takes about a 1/2 hour. Weight check, briefing, demo, practice.
On scuba, you repeat the weight check and the first descent is done horizontally. Not down onto the knees. If you've explained the BC properly you can have them stop just as they touch the bottom with their outstretched finger. After that it's really not necessary for them to even do that.
Some will touch with their body. No denying that. Or their bent knees may hit. But it should be clearly communicated that it's not the norm.
Skills should be demo'd in trim and neutral in midwater. The biggest thing I have seen that really helps is NOT to demo them like Marcel Marceau on quaaludes. When I started demoing them in real time, but still relaxed and easy, students picked it up much faster. Make it look easy and they will not get nervous and hesitate, thus allowing the mask to fill up with water.
The highly exaggerated, giant motions, super slow method just makes a simple skill look hard. It also helps if the mask clearing skill, for example, is introduced and practiced during the skin diving skills portion. Before they even get put on scuba the student should be able to retrieve the mask and snorkel from the bottom of the pool and while swimming underwater, don the mask, clear it, and have the snorkel breathable when the top breaks the surface.
The more time you have in the water the better.
Introducing buoyancy and trim first results in students being more relaxed, they learn faster, they enjoy it more, and they look like divers. Which is really cool for them.
The excuse about losing control because they are not planted on the bottom is bogus. Reduce ratios, spend more time on skills, and the fact is that there is actually less control over students who are overweighted. It's also much more dangerous due to the risk of rapid ascents.
Finally, if someone is going to teach buoyancy, trim, and proper weighting, they have to know what it is themselves. Too many instructors don't seem to, want to, or are not able to. You can't teach what you don't know.