According to many guides online, non-essential adverb clauses or adverb phrases are by commas.
However, I have found that no matter whether they are separated or not, adverb clauses and phrases seems to be essential or non-essential depending on the context or the interpretation.
Example 1
I like to hang out with my friends, in the arcade.
I like to hang out with my friends in the arcade.
The adverb phrases above are actually both essential in my opinion because they specify the place. Both of the sentences mean the same: I like to hang out with my friends in the arcade and maybe I don't enjoy it at another place.
Example 2
I didn't talk to Emily, when we were in the math class yesterday.
I didn't talk to Emily when we were in the math class yesterday.
The adverb clauses are actually both essential in my opinion because it specifies a time. Both of the sentences mean the same: I didn't to talk to Emily in the math class yesterday. However, maybe we talked afterward.
Example 3
I never walk past this street, because I am afraid of the stray dogs.
I never walk past this street because I am afraid of the stray dogs.
The adverb clauses are both non-essential in my opinion. They don't change the fact that I never walk past the street. Both of the sentences mean the same: I never walk past this street.