Yeah, but you're acting like they can't have both systems in place on the same ship. They'll have a pretty good idea when they'll be under thrust, barring failures. They can account for when they'll need bulbs vs mugs.
Which is exactly what they explicitly do in the novels. Especially when they expect they're going to be under thrust for long stretches of time -- several days or so -- they use ordinary cups and mugs so they don't have to use bulbs, OR they use a mug with a sealed top in case they're close to a flip-n-burn or close to a potential combat situation.
They've also been known to deliberately vary the thrust for long transits, primarily because Naomi and Alex don't like long stretches at high-G so if they're REALLY in a hurry to get somewhere they throttle back for an hour or two for meals and bathroom breaks (otherwise it's crash couch all the way).
Ships like Rocinante are built to move, and they spend almost as much time under thrust as not.
Except that in season 1, Holden expresses delight on discovering the coffee maker and bags of coffee beans on the Tachi, newly acquired from the MCRN after the destruction of the Donnager. Really, how hard would it have been for the prop makers to add a spout and come up with some bulb-style receptacles?
The mugs they're using to depict zero-g bulbs are basically implied to be sealed at the top to avoid spillage. The design is ambiguous enough to not just be an ordinary "mug" plus it has a magnetic bottom so you can stick it to a wall.
Chris Hadfield did some experiments on ISS during his flight that basically demonstrated that you CAN use an actual open-top coffee cup this way in microgravity, so long as it has the right internal shape to promote surface tension and capillary action. The "bulb" of traditional scifi turns out to be overkill for this task.
Also slopping sticky, syrupy liquids around in a spacecraft cabin is probably still high on the list of taboo actions in whatever century
Also nope. In fact, sticky syrupy liquids are almost the only thing you CAN use in microgravity, because the sticky liquid with its high surface tension will not only stick to the food, it'll keep the food from floating too far away from the bowl.
It actually turns out that without the force of gravity, many foods that would otherwise be pretty messy have a tendency to stay put. Sticky rice, ironically, is one of them: the pull of gravity on a bowl of rice is a constant force on each individual grain that causes them to separate more readily from the clumps. In microgravity, you'd have to shake a bowl of rice fairly rigorously to get the same effect, but otherwise the rice just stays clumped together and sticks to the bowl anyway. So as long as you aren't literally throwing your food around the cabin like an angry chimp, it's not going to just float away on its own. And some sticky sweet-and-sour sauce will only act like a kind of goopy glue to keep it all clumped together anyway.
The Expanse is set or perhaps it's just the Belters that are ultra safety conscious and Martians are really all cowboys.
The Belters trust the debris traps and filters to pull anything out of the air that might be a problem. Plus, they've spent enough time in microgravity to be understand intuitively how things work in freefall; strictly speaking, it's actually kind of weird that Belters even bother to use mugs at all when they could just as easily dispense coffee onto a big spoon and drink from the resulting bubble through a straw.