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.
You sound like a wonderful parent, but I had great parents too.
How is this discipline, the object of which is to inculcate self-regulation? All you did iis restrain them from that which you didn't approve. Moeover, how do you practice your method on multiple children simultaneously?
In life, the consequences of foolish actions are painful, not negotiable.