Is it rude to ask his grandfather this?

When my husband and his brothers were babies, their grandparents took out a life insurance policy on each of them through Gerber Grow Up. At our weddings the grandparents said as a gift they would like to sign the policies over to us. We have been married for 2 years and his brother has been married for 3 years and they still have not signed them over. We are expecting our first child and would liketo make sure there are life insurance policies for both of us before the baby is born. Is it rude to ask his grandfather for the policy?