Is it permissible to inform children that they will not be held accountable until they reach puberty?

There is no harm in informing a child that they are not yet accountable until they reach puberty, based on the Hadith: "The pen has been lifted from three: from the sleeper until they awaken, from the insane until they regain their sanity, and from the child until they reach puberty." However, the guardian of a child, once the child reaches the age of discernment, should instruct them in acts of worship and teach them what is obligatory and what is forbidden, based on the Hadith: "Command your children to pray when they are seven years old, and beat them for it when they are ten years old."