The flaw in your argument is the assumption that children have the language, comprehension and reasoning skills of an adult. Young children don’t.
A simple, clear, firm instruction using a command-style syntax ‘Put your shoes on, thank you’ cuts through. Doesn’t have to be screamed or shrieked, just delivered with the confidence of an adult with authority.
For many children, commands are liberating because endless nagging, reminders, choices, questions and woolly paradigms a la ‘what do you think you could be doing now, Timmy’ are confusing and overwhelming, particularly for children with SEN.
And if you think that adults never have to ‘endure’ such requests, clearly you have not opened your eyes to the world around you. How do you think the police officer gets a distressed drunk to calm down? How do you think the army officer gets a soldier to be ready for front line duty? How do you think a surgeon enables speedy work by his assistant? When you’re on the train, does the ticket inspector start his request with a story, a few options, maybe an apology? No. He says ‘tickets, please’ and you are expected to comply.