Let's start from the beginning. If a child visits your dojo and you ask what he sees here, what do you think he will answer? "One person attacks another who defends himself against this", right? Will not say "They dance with each other".
If it Looks like dancing, they will.
Children don't think in categories like "self defense" or something like that. If they don't know about fighting or violence, they see just two people doing something strange.
I train in a dojo with windows to the street, and often children watch the training with wide eyes and ask mom or dad what they are doing inside. Most parents say, they are doing sports or something like that, but the children have no idea.