It would depend upon many factors, such as what the situation is, who the person is, context, etc. Just the other day, my barber had to look at my lips while shaving my moustache. Had she not looked at them, I hate to think what kind of jagged scar that straight razor would have left on me if she slipped up.
Absolutely!! Remember that, D. Every single time someone looks at your lips, you should close the distance by leaning in, and pucker up for good smooch.
I don't think I'm quite astute enough to notice when someone is specifically looking at my lips. I'd assume they are getting ready to compliment me on how luscious they are, though ;)