Consider, I often tell my kids that they need a cup if they want water. I just as often have to change that to "go get a cup, and I'll get you water."
Declarative seems to be natural at a desire level, but at an action level, imperative seems to be more common.
I believe this is flipped for topics and actions that are well internalized. When my kids are older, I can just say "cup". If cups aren't in the right drawer, I have to provide imperative to where to check, though.
And yes, all of this is anecdotal. YMMV. I'm highly interested if folks know of studies or counter examples.