Connectivity is key to the latest technologies propagating into everyday life. Cyber-Physical Systems (CPS) and Internet-of-Things (IoT) applications enable users, machines, and technologically enriched objects (‘Things’) to sense, communicate, and interact with their environment. Albeit making human beings’ lives more comfortable, these systems collect huge quantities of data that may affect human privacy and their digital sovereignty. Engaging in control over individuals by digital means, the data and the artefacts that process privacy-relevant data can be addressed by Self-Determination Theory (SDT) and its established instruments. In this paper, we discuss how the theory and its methodological knowledge can be considered for user-centric privacy management. We set the stage for studying motivational factors to improve user engagement in identifying privacy needs and preserving privacy when utilizing or aiming to adapt CPS or IoT applications according to their privacy needs. SDT considers user autonomy, self-perceived competence, and social relatedness relevant for human engagement. Embodying these factors into a Design Science-based CPS development framework could help to motivate users to articulate privacy needs and adopt cyber-physical technologies for personal task accomplishment.