Embedding is a useful communication skill for convincing children and adults alike to do your bidding. Instead of giving your kids directions, embed your directions as an assumption behind another, less important instruction. This will make it hard for your kids to question your directions or even think of them as directions.
For example, don't say, "Make your bed." Instead, say, "When you make your bed, be sure to put the pillows under the covers." Even better, embed a reward. You could say, for example, "Do an extra good job when you make your bed so that you can have your friend sleep over tonight."
One of the traps that parents and teachers fall into is struggling with children over power. Adult authority figures often feel they need to be in charge if children are going to follow their directions, but children value autonomy. Why not allow kids to keep their autonomy by giving them choices?
Instead of giving kids a list of chores, for example, give them a series of choices. Ask, "Would you like to sweep up first, or start by taking the garbage out?" Give them choices in other areas of their lives, such as what to wear, what treats or rewards they'd like to get, and what books they want you to read. By carefully selecting which choices you give your kids, you can get them to enjoy following your directions while still having them do what you want them to.
The idea of different learning styles is very popular in modern schools, but many people don't realize that learning styles are also listening styles. If you want a kid to follow directions, speak his language. If your child is very visual, for example, you may get better results by writing out a list for him or drawing pictures of what you want him to do. For a kinesthetic child, on the other hand, you may want to act out your instructions with gestures.