Parent not a friend
....This is very interesting as my baby is just over the past few months starting to get cognizant of my "orders" at 18 months. I tend to speak nicely but I try to be firm (high pitched voice "please dont do that dear" "no dear, mummy asked you not to do that please" LOL); I only save the mean low-toned shout for dangerous situations "mama said no, you do not do that, that's dangerous", accompanied by a stern look and if she doesn't listen fairly quickly I get up and firmly grasp her arm and move her. OK, now based on that, what am I doing right and wrong. I also want a polite child who listens to me and I have no idea if the way I treat my baby is too lax? I try to be firm but still treat her with respect and not too sternly. H speaks to her very sternly when he's telling her to do something and I dont like it (mean low voice "I said no", no please or anything

). Please share your expertise Barbara!
Hi!
Raising kids is truly a hero's journey. Here's my input.
First off, do not *try* to speak nicely but firmly - DO IT! As Yoda says, do, or do not...there is no try.
Next, remember, kids need boundaries. They are far more comfortable knowing what is acceptable behavior and what is not. I wouldn't say, Mommy asked you..., I would say, Mommy specifically TOLD you NOT to do xyz. Certainly, you can preface your requests with "please" (ie, "please do not use your bright blue paints on Mommy's nice white marble floor"), but it should be delivered as more of a statement of fact, and not a begging request.
Next, spell out consequences. I started that quite early with my kids. ie, "If you use your bright blue paints on Mommy's floor, you will lose your Elmo plushie for 3 hours." And then STICK WITH THE CONSEQUENCES!!!! Your child has to know you are serious and firm. Sure, they might cry. And they might whine. And that almost always translates into, they will learn how to manipulate you...which would be detrimental to their future growth as well. So I empathize with their unhappiness wrt consequences but do nothing to mitigate it.
I always ask myself, how do I want my kids to treat me as they get older and I get more tired? Do I want to fight battles then....or do I want to nip things in the bud today? Almost always, it's "fix it today" (which is extremely tiring and draining and what have you, but hey. It's needed).
In closing, I am 'way stern with my kids when needed...but I'm also hilariously funny with them and keep them laughing all the time as well. They know I am not their friend, I am far and away superior to any friend they could ever have. I Am Mom. I am one of the few constants they'll have in their lives...and the person who will always look out for them to the best of my abilities.
So far (12 years!) it's worked pretty darned well.
Hope that helps,
Barbara