Yes you sure do. You do the same things to them as you do to the armor and you have it right, knees, elbows, helmets, hands, feet.
Same techniques, drybrush, pastels. A dark wash applied to an area will make it appear wet (when cloth gets wet it usually gets pretty dark).
Use the same color scheme as you did on the vehicle. You can vary the degree from figure to figure depending of the scene - not every guy is going to go through the same puddle the same way.