First of all, I think "asserting a claim" means something more specific and legally justifiable than "give me your wallet and phone, motherf***er." I believe that the legal interpretation of that phrase is that they have a legitimate legal reason to claim ownership, such as the title of a car.
Here's my answer to your question, in real terms:
1) You need to know who your lawyer is when you're walking around with a firearm.
2) You need to be able to get in touch with him or her, even off-hours.
3) You need to know exactly what he or she expects you to say (nothing) and what not to say (anything) after a defensive shooting.
If someone pulls a knife or a gun on me, I might shoot them. Then, as I have been instructed by my attorney, I will call 911, identify myself, request police and an ambulance, and hang up. Then, I will call my attorney (or someone in his office who can get him 24/7) and let them know that I need my attorney ASAP.
Then, the police will come. They will ask me what happened. I will provide my ID including my CCDW permit, and tell them "I will cooperate fully with your investigation after my attorney arrives."
They will arrest me. That's their job. The word "arrest" comes from the French verb 'arreter," which means "to stop." Cuffing me and putting me in the back of the Crown Vic is the most effective way to stop the shooting that has happened, so they will do it.
And I will politely keep my mouth shut until my lawyer arrives.
He will talk to me in private, advise me what to say and not to say, and accompany me through the questioning.
The idea is to keep you from undermining your own defense, and from saying anything that will turn out to be demonstrably incorrect.
For example, when the police say "what happened here?" a person who doesn't know what their lawyer expects of them might say, "This guy came up to me with a big knife, he was like six feet away, and I drew my gun and shot him twice."
Then, they measure distances and count shell casings, and find out he had a Swiss Army knife, never came within twelve feet of you, and you shot him nine times. Adrenalin makes knives seem bigger, and distances seem shorter. The prosecutor says, "Why did he LIE TO THE OFFICERS??!!??" and you get charged with a crime!
Meet your lawyer. Talk to him. Find out what he expects of you. Even if they charge you a hundred or two for their time, consider it an investment in your future... in having a future.