I don't know if this is any help but I try not to have the attitude that my children must "obey" me and that I must "control" them.
This of course does not mean that they run around trashing things and annoying the general public, or anything like that, but it hasn't been an issue.
Its more like a gentle guidance and modelling of the kinds of behaviours you want to live amongst.
I wouldn't want to have to obey my husband, or him me, and I know children are not adults yet and in a sense don't have the same rights as they don't always know what is best, and they need the structure to feel safe, however things like handing you a phone I think is a good example of "don't sweat the small stuff".
What would you do if she wasn't there? You'd get the phone yourself.
Would it kill her to give it to you? Of course not. Why wouldn't she if she's right there? Because I guess she's asserting her right to choose. Does she have the right to choose whether to be helpful and sweet? She does, because she's not being helpful or sweet unless she chooses to do it, really.
I'd be tempted to meet that kind of thing with a simple "well don't be asking me for any favours" and when they say "can I have a drink" you can do the whole "errr how about "no"" thing with a grin and just remind them in a practical way that a bit of give and take with regards to helping each other out goes a long way.
BUT my children are not terribly wilful necessarily so I might be talking absolute bollix. There was always a stressful atmosphere in my house growing up due to various factors and I seem to really prioritise "atmosphere" in the house over other factors like compliance, obedience etc, yet find these things are not big issues despite not prioritising them. Important stuff where they need to do as they are told, they do - safety issues, gong to bed, cleaning teeth etc, they are the things that really matter at that age...