I think the thing to realise is that you are only in control of yourself.
if we take the emotional expectation out of the relationship foe eg. they are 'my' children therefore they will do X when I ask them... then everyone might all rub along better.
Think of your children as humans who just happen to be younger than yourself - people who have come to live with you for a short while. They didn't ask to be born to you, you didn't ask for them in particular to be born to you either.
I treat my DD like a team member - she does what we do - she tidies with us: we all have our chores; we all carry groceries; and do laundry. DD helps chop vegetables, and bake also. She's part of the family - not the child in the family.
We listen to each other, and we respect each other's human rights: we never threaten her with punishments in any way. We treat each other kindly, and respectfully. Our rules are pinned up: she had as much say in our family rules as we did.
DD is a 6yo child, who happens to have come out of my womb. She's younger than me because of that, and we look after her and keep her safe until she can do this for herself.
We want her to be able to function as an adult in the world when we're not available or dead or whatever, so we teach her to negotiate, to listen and to speak her mind - not to just do what she's told if it doesn't suit her; or just if it's someone bigger or stronger controlling her; or if she's afraid of punishment.
We hope by emphasising negotiation in her upbringing that later on when she's adult, she won't be manipulated or abused by someone as she will have learned to think her way through things and have her say: and she'll be used to being listened to and to listen.
We hope that 'doing what she's told' won't be a reflex that would lead her into harm: that she won't be automatically geared just to do what she's told, even if it's not in her best interest, or the interests of everyone.
I can't see how that skill could be worthwhile or useful.
Children are not soldiers in the lines, they are young human beings, and they deserve to be taught how to navigate the world with loving kindness, and compassion for their tender years.
The book I mentioned earlier is something of a paradigm shifter, and helps re-frame your expectations of your family life.
Here's hoping!!