Get their attention first before you say anything else.
Until you get through to them, say nothing else. Try not to give away whether this is an icecream moment or a laundry moment. Surprise them by sometimes getting their attention with a laundry basket in your arms and saying "when I've got this laundry put away, do you want to have icecream together?"
If you can't get through to them with just their name, use a louder or sharper tone, or touch them. If they don't appear to fully engage (the grunt or yeah they learn a few years before puberty) don't start talking. Keep working on engaging them. Now if you never have anything fun on offer they will never engage, so be worth hearing at least once in a while.
Finally once you have them engaged ("look at my face!" I used to say to the kids) you can ask for help or offer the fun activity or whatever else. And make them say "no thankyou" or "I'd rather not" or "I need to finish this first" or whatever is an appropriate way to demur. (If there is no appropriate way to demur, then don't ask, tell.) You will know they heard.