Instead of telling him to wash his hands by himself, give him the choice of washing his hands alone or with your help. Remember you don't always have to be in control. Ask your child if he wants to help you wash the dishes or fold the laundry. Imagine a world filled with fascinating things to crawl over, explore and put in your mouth. Public places such as restaurants or stores can be very difficult because you have to be careful what you touch, and keep your voice and energy under control.
Limits allow children to feel protected.
Without them they become anxious and insecure. For the wellbeing of your child, you need to follow through and enforce boundaries, no matter how much he may protest.