If teaching is the goal then a change in behavior must be the measure of the success of your method. You may never assume that you have taught a concept until the child's behavior changes. Once you have used these other goals as the reasons to ask your children to make decisions to limit or change their behavior, it is seldom necessary to ask for obedience. Then when you do ask for obedience it can be saved for those few times when obedience is necessary like when the kid is running for the street and a truck is coming. One more thought about obedience before we end our discussion.
Obedience is much easier to ask for if it is mutual.
It will be much easier to get obedience at those critical times if your children can ask for your obedience upon occasion and get it. This, again, may be something that the child already does and you wish to replace it with a new and more productive behavior, or it might just be something that you would like to see your child adopt. Describe the desired behavior in detail here. What is my goal in asking them for this particular behavior. Write down a detailed description of your goal in asking for this adjustment of behavior.