I think there needs to be a balance. I'm autistic, diagnosed as an adult, and as a child I was just a 'shy, quiet, socially awkward, excellent student'. I never expected control over group situations, but then I avoided them where ever possible, and I would rather gnaw off my own hand than try and get people to do something the way I wanted.
I believe there is a distinction between 'bad behaviour' and behaviours that are a result of ND - autistic/adhd kids absolutely can be 'naughty', but some behaviours are as a direct result of their ND.
The problem with using phrases like 'fit into social society' and 'cope with everyday life' (not saying those exact phrases have been used here, and I'm deliberately staying away from using 'normal' at all), is that it places all of the responsibility on the ND person to change to fit NT 'life' - how can ND individuals make life easier for NY individuals. A great number of ND children are extremely good at masking at school - out of either explicit or implied necessity - so of course their behaviour at home will seem 'worse', because they don't feel the same need to mask.
Do I think ND children should get absolute control over everything? Not at all, and there is a distinct issue with siblings of disabled children being treated differently and subsequent problems that creates. However - and this is just an example - changing things periodically just for the sake of it (so no need to at all) is bordering on cruel; autistic individuals often dislike change because it's unknown and therefore unpredictable, therefore things staying the same if safer and reduces anxiety - why would you deliberately induce unnecessary anxiety?
It's a fine line, but we shouldn't view it as 'making autistic people do what we want', as that's just another pressure, and another expectation they can't live up to.