I told 3yo DD1 she had to go to the loo before we left to go out. She refused, so I asked her again and again, then she shouted and me and threw herself down howling, so I just picked her up (screaming and howling) and plonked her on the toilet.
Cue 30 mins of stroppy shouting and resentfulness from DD1, thus making the start to everyone's Sunday trip out an utter misery.
DW says I'm an idiot. I should have either (a) just waited a short while and she would have decided to go of her own accord, (b) used a bribe, or (c) tried to make a game out of it (e.g. "can you show me how clever you are by going to the toilet all by yourself?").
Personally, I think I'm just permanently behind the curve. DW spends so much time with them she gets to make mistakes and learn from them, but by the time I learn, the DKs have moved on to a different stage of development. It just ain't fair.