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Decency towards others, especially service workers, should be the bare minimum.
When boarding buses, or any sort of public transportation where you have to walk past a driver to board, always smile at and greet the driver as you're boarding.
It doesn't waste anyone's time, yours or the drivers, to smile and greet the driver, as chances are you probably have to pay or scan your pass which is going to take a second or two, about the amount of time it takes to smile and greet the driver.
When we don't look at or acknowledge the driver at all, this can make the driver feel dehumanized to not be acknowledged by other human beings all day. Being a bus driver is a difficult job, they have to do customer service AND deal with traffic all day. Bus drivers also face a lot of burn out because they are often treated poorly. The least you can do is humanize them by smiling at them and greeting them.