Lots of people can pop their ears on demand by flexing the muscles that open the tube. Those muscles are the same ones that flex when yawning and sometimes when chewing.
If your ears are always popping, I don’t think that’s necessarily bad, but maybe you’re more susceptible to ear infections? If it’s not painful and has always been like that it’s probably fine, but mentioning it to your doctor next time you see them won’t hurt.