Can, must and have to: ability, rules and permission
Can is about ability or permission, must and have to about rules. Careful: mustn't means not allowed, don't have to means not necessary.
Why
On the ferry to Dover there are signs with rules. What are you allowed to do, what do you have to do, and what is not necessary?
Rules, arrangements and what you can or cannot do: you talk about them with can, must and have to. You can sit here. You must wear a seatbelt. You don't have to pay for the toilets.
You meet them everywhere: at school, on a trip, in sport or in a game. And there is a trap: you mustn't and you don't have to mean very different things.
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