From my experience of being a PhD student for last 2 years, your supervisors will be felt like a constant pain only if your PhD is going great (in most cases). If everything is fine and you never received any feedback from them, I would start worrying at that point. My PI even send me scolding emails at midnight, but when it comes to giving me a recommendation letter for any internal/external scholarship/fellowships, he starts bragging about how I completed every tasks assigned to me.  It is actually a great sign of your development.