Some DCs just have a lot of energy and that's not a bad thing, having lots of fizz and curiosity. I had one DC who wouldn't sit still at all, and one who did.
The one with lots of energy, I got used to keeping an eye on all the time, and learned to judge when to step in and when to roll with it. If they are burning off energy and exploring, fine. If they are disturbing others, not fine and would step in.
There's no need to do it because you fear the disapproval of others though, you learn to grow a thicker skin with that. It's about letting them be themselves, but also guiding them into seeing that if there's a fun group activity, then sometimes there is value in joining in with that because they will enjoy it or benefit from it, not because they are "being a nuisance" to others if they don't.
As they got older, at parties if the energy levels were hyped up, I would take them outside for a couple of minutes to calm down an re-set. I wouldn't make a big thing of it, I'd just quietly take them out for a moment of fresh air and that would help calm any developing wild behaviour down.
They are older now and delightful. Very funny, creative, still energetic and curious, but they are appropriately behaved and know how to behave properly in more formal social settings too, ie restaurants, or at occasions. Never had a problem at school either. I have spent years putting the groundwork in young though because, had I completely left them to it and not guided, it's quite possible they could have been one of those annoying kids who just don't ever know when to stop. I wanted to teach them when to let go and have fun and be themselves and not squash their spirit, but also recognise that other people can get annoyed past a certain energy or silliness level that continues for too long. I guess I tried to teach them empathy as well, eg at parties, if it was candles blowing time, rather than carrying on running around, that they needed to gather round with the others and sing Happy Birthday and recognise that it was the birthday child's moment. Little things like that really.