If you've taken formal art classes, you might remember symbol drawing as the first thing that was demonized and beaten out of you on day one. It involves drawing things in the way that came naturally to you as a child or beginner. For example, an eye might be an almond with a circle inside. A milk box might be a rectangle with a triangle on top. A hammer might be a stick with a shorter stick perpendicular to it at the top.
A centuries-old textbook I read once described it as "drawing by touch." Before we ever learn to identify things by sight, we feel them with our hands and come to understand them as various shapes of objects in the form of outlines.
That then gives us a foundation to understand our vision (connecting physical and visual patterns to recognize objects), as well as to recognize reality (touchable things) from fantasy (untouchable things).
Soon, we become able to develop trustworthy new symbols just by looking at the things around us without always fondling them.
When kids or beginners then try to remember what objects look like and draw them on the page, they're pulling from these simple old symbols buried deep in the back of our minds. Of course, sometimes these symbols are a bit wonky or not easily recognized by others. It can still take some practice and perception skill training to draw symbols well.
This method is used as part of the symbolic approach to art (https://lib.hol.ink/index.php?topic=37).
How to Improve
Simply doodling a lot in the way that comes naturally to you and trying to make things recognizable can go a long way in developing your symbols.
Think about what it would feel like to touch something and its physical proportions compared to whatever body part is interacting with it.
List out its most important features with words. What makes a teapot a teapot? Why is it that way? What would cause a teapot to no longer work as one?
What is something similar to a teapot, and why is it classified as something different? What would turn your teapot into an imposter like that?
These are the kinds of things you want to consider when drawing and aim to communicate or avoid communicating through your symbols.