What happened when you told your children to do something and they said no. That had to have happened at least once.
Thank you for asking.
At 2 or so, naturally, there was plenty of no as they learned to define themselves as separate people. Depending on circumstances:
1. going out in the cold without a jacket "OK, I'll just keep it handy, tell me when you are cold and want it."
2. trying to let go of my hand when crossing a street..... Picked them up, carried them across, set them down and explained.
older than 2...discuss, explain, enforce but it was vanishingly rare.
pre-teen and older...just never happened. they trusted me. They would ask why and challenge, but never said no. I believe the challenging is an excellent sign that they are thinking for themselves and if I don't have adequate reasons, then I need to re-think.