So when my children was born, I decided to do the same for them. Talking like an adult (with sometimes words they had no chance to understand), explain the why and how of stuff we ask them to do.
Never raised the hand on them. Sometimes it’s a little hard to deal, but most of the time everything goes well.
We’ll see when they will be teenagers, but for now, we all live in harmony, and we are often complimented by other parents for their behavior.
Maybe we got lucky (we will never know) or may be this approach was good.
But for us, it’s the way to do.