This sounds
like submissive peeing and if many of your friends have dogs which are dominating she will naturally be nervous around them.
While it may look like your pup is sending you some sort of soggy ultimatum at times, what you are most likely seeing in these cases is a combination
of submissive pee and a genuine need to urinate.
Dogs urinate for many reasons besides the simple need for elimination,
including submissive peeing, territorial marking, and in response to extreme excitement.
So yelling at your dog for licking, is pointless and will probably cause more licking and possibly other bad behaviors
like submissive peeing.
Submissive peeing is normal for dogs to show that they aren't a threat to you.
If the frequent urination is symptomatic of an overarching behavioral problem, such as separation anxiety or
submissive peeing, you will have to put a little extra elbow grease into your training.
An added bonus is that regardless of what you are training, the confidence you build in them will help deal with
the submissive peeing issue.
Identify the things that trigger your pup to
submissive pee and try to not let them happen in the house.