Correctly formed teeth have long roots extending downward into the jaw and upward into the skull, its also worth noting that any skeleton you will see on display probably has them wired or glued in place to ensure they remain in the correct position.
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Teeth only stay inside models and Hollywood props. In the real world, they fall out because the gums are the only thing keeping them in place, unless it's a crown that's held in place by a pin drilled directly into the jaw.
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Teeth re the hardest part of the body. The skeleton will go away before the teeth will.
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Teeth are a form of bone. Bone has a lot of calcium, so do teeth.
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Teeth are bones so they decay at the same rate as the other bones.