As a general game mechanic, you simply need to hold the buttons down longer. If you simply press the parry and let go, it will drop the leg. Holding the buttons will result in a takedown.
For the AI, as previously noted, they still won't do catch kick takedowns often as there are other conditions that must be met. If they did a takedown off of catch kicks all the time, it'd be worse than never doing them. Grapplers will do it more often than standup guys, certainly, but not all the time.

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