自定义帖子类型作为WordPress中另一个自定义帖子类型的类别

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

1. teacher

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?