You can also use the System Preferences, Keyboard preferences, Keyboard Shortcuts, Keyboard & Text Input to set hot keys to move the focus to the menu bar or the dock, which allows you to display them with the keyboard.

Set the keys for Move focus to the (menu bar or dock). Ignore the Launchpad & Dock “Turn Dock Hiding On/Off” as that doesn’t affect full screen mode (which always hides the dock).