Sometimes, you will randomly come across your tama and see it crying. At this point, you should go to the "pacman" symbol and hit "praise."
Other times, your tama will beep, and the attention icon (tenth icon; bottom right) will be lit, but it will just be hanging out like normal. At this point you should discipline it with a "time out." You get to the time out by going to the pacman symbol as well.
Be careful on time outing it, though, since sometimes it will call for you with the attention icon and actually need something, like food. So be sure to check the stats screen before giving it a time out.