Help!

I am not trying to be disrespectful or rude at any point of this post.

I don't know what group to put this in. I grew up on a very strict yes ma'am/yes sir rule. I'm wondering what I say to someone who is nonbinary. Do I just say "yes"? I'm used to calling anyone (especially someone who is older than me) ma'am and sir as a sign of respect. Same thing with Mrs./Ms./Mr. What do I say?

Sorry if any of this offended you.