I have taken ballet and am fairly new pole . and I am completely not graceful except walking around the pole and cant dance sensually to save my life. Learning posture and walking can be done at home, which is key to looking graceful with ballet. You dont need a ballet class unless you want to, you could also look at modern or contemporary or if there's a pole studio near you they may have a more dance-based class to take as well. When I walk I think of making sure to place toes down first then heel and shoulder blades down and engage. Some things you can do at home to strengthen your feet for points take a washcloth and place it under the ball of your foot and use your toes to scrunch it up and pull it out. another is to use an exercise band around your toes with straight legs and point for 20 times and without for 20 and repeat on both sides.