As you want to develop your toes to bar a good cue to think of is “Tap, shoot, release” This means that once your toes touch the bar you need to be in position to actively reset (shoot) to the arch position. This allows you to reload for the next rep.
Tap- Toes tap the bar with your hips behind the bar.
Shoot- Legs shoot back, torso comes forward to reset the arch position.
Relaod- Body is in an arch position, with your shoulders and hips in front of the bar, ready for the next rep.
You can also use this cue if you are scaling your toes to bar to get the high knee drive (for knees to elbows or knees raises)