Should I be upset with my daughter for her behavior when we go to visit people?

My five year old daughter is very shy but sweet. However whenever I take her to vist my friends or visit my parents and siblings and cousins and other relatives my daughter will hardly speak to anyone and just follow me around constantly and want to sit on my lap. She won't even say "hello" or "goodbye" or give anyone a hug unless I tell her to multiple times and then she will pout about it. My brother told me that he doesn't think she has any manners. Would you find this behavior rude? Should I do something about it?