Leave these sounds to when you are genuinely in pain or in the bedroom. Better yet, leave it to the old and the disabled. I have seen young, healthy and very able women get up from their seats with a moan, groan or sigh. These sounds are pitiful and annoying.
Even if you are in pain, not all pain needs to be audible. There is dignity in clenching your teeth and sucking it up if you are uncomfortable. Be aware of the noises that you make, smile and grit your teeth through slight pain. If you are in so much pain to be moaning or groaning, stay home or go to the hospital.