I can answer this for Sweden.

The Swedish Kingship was elective until 1544, when it became heraditory in the Wasa dynasty. The King woudl be elected at Mora Stenar by the things of Svealand, and ride in Eriksgata to the things of Västergötland and Östergötland to be confirmed as King. As the peasants were part of these things, and voted at them, the King and the noblement who supported his election (as they would often either through a position of trust or influence by wealth, debt, family etc more or less control a thing) had to interact with the local population.

During the time of the estates parliament, roughly 1450 to 1866, the peasants were represented as one of the four estates. The King woudl adress the peasants of the parliament as "Herrar Dannemän" (roughly "Misters Gentlemen", Danneman is a honourable term for a self-owning, honest honourable peasant). As the King during the Great Power era (roughly 1613-1718) usually worked with the peasant (and sometimes also the burgher and priest) estate to limit the influence of the noble estate.

As King Karl XI organised indelningsverket, where several peasants would band together to recruit and equip a soldier instead of paying taxes, the peasants would interact, not only with the often noble officers they provided soldiers for but quite frequently the King as well. Karl XI was famous for his many quick travels and inspections of his new army system, his love of duty and anger over corruption and neglience.

There are dozens of stories (most of them probably myths, but they are still based in an idea that was prevalent at the time) of the King rewarding dutiful service and punishing corruption and neglience himself when he encountered it. One story tells of the King, arriving at a town too late when not stopping for the night at the planned location and finding inns closed and the county chief away, not expecting them until the day after. The King and his two followers then made bed next to the fountain at the square, but was roused by the night watchman, who announced that vagabonds were not allowed to sleep in ther square.

Rather than be offended, the King obeyed orders and left the town to encamp in the countryside. The dutiful watchman, who never knew he had ordered the King around, got a silver daler coin and a letter of recommendation to his superior from the King, and only then did he underastand who he had evicted from the square.

During the Darlecarlian Rebellion of 1743, when peasants from the county Dalarna took Stockholm, the King spoke to the peasant army himself urging them to turn back before they entered the city.

The majority of the Swedish nobility were not affluent enough to live off their estates and had to serve as officers and civil servants to make a living. Most peasants would interact monthly with these civil servants and officers. Self-owning farmers would interact with the tax collector, the local judge (both often lower nobility) and work with the officer of the regiment in providing his part of the soldier his rote supplied.

If the peasant had the trust of other locla peasants, he could become one of their representatives at the estates parliament, where he would interact both witht the higher nobility and meet the King.

Then again, self-owning farmers, while a plurality of men in society (between 52-62% of the people lived on self-owned land until the great land claimation in the latter half of the 1800s and the urbanisation in the 1900s), was still not the majority of the population, and decidedly middle class - if you by common people refer to the landless, the tenants, the agricultural workers and all the women of society, it was far less common.