If you do the shopping for your family -- even sometimes -- it helps to look at labels. Fruit juices are usually marketed in 1 L cardboard containers. A can of coke comes in 355 mL sizes. The mL is a smaller measurement than a Liter.
Therefore by comparring your coke can to the 1 Liter juice, you can imagine that 1000 mL = 1 Liter.
The rest are all backwards
100 cm = 1 meter. Take a look at a ruler if you have one. The cm is smaller that 1 meter. A 12 inch ruler is about 30 cm which is about 1/3 of a meter.
10 mm = 1 cm. Again look at your ruler. There are 10 lines between 1 cm and the next one.
1000 grams = 1 kilo. The word kilogram means 1000 somethings. So 1000 grams = 1 kg.