We remind guests of the check-out time (11 a.m.) the night before when we ask them to be sure to follow checkout procedures. In our house manual we say something about "to ensure everyone has a sparkling clean condo, please checkout on time so we can prepare for our next guests." We also wish them a safe trip home. We turn our outside camera on which "pings" our email early the day of checkout so we can hear that they're preparing to leave.
I would include it in your welcome message. When I receive that question while a guest, specifically on the checkout date, I feel like I'm being rushed.