Custom Post types as category in another custom post type in WordPress

I created a WordPress website that contains 3 custom post types.

1. teacher

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2. class

3. video

My requirement is

(1) when adding video I need to select the teacher’s name and save it. (i.e. teacher as category in video post type)

(2) when adding classes I need to select both teacher’s name and video and save it.

How do I do that?