Bike more and you will, it's not particularly noticeable while normally biking. But I really notice it on sprints, but it's also noticeable even with smaller increases in effort over cruising.

It's also quite noticeable when you switch to clipless and go for a hard ride, suddenly new muscles will be sore.

Honestly, I pull up. I'm not pulling the pedal up, I'm lifting the leg and pulling my foot up, getting it into postion to push again, same as I would do for running.

you should try it, you can feel the relief in the pushing leg.

I'll go try it. Why couldn't you do that in flats?

You do it with flats too. Clipped in feet just makes it so you don't need to worry about where the foot ends up after that. But it's not a huge difference.

Just do one-legged drills for a bit. You definitely pull up when doing this. Transfer the same muscle activation to two legged cycling, and you're pulling up then too.