Mine are 4 and 2 also. What we do is “yes mommy”, “yes daddy”. For example I say “Penelope go put your dirty clothes in the hamper, she is supposed to respond with “yes mommy” (with out attitude) and then go do it. This way I know they heard me, there is no excuse to be made for not following through. Dd4 is expected to say it with our me telling her, ds2 is still learning by says it about 75% of the time.
We are working on first the obedience this week. I feel like a broken record player somedays and I am done. There is no reason for me to tell you 4 times to pick up your toys. If I tell you and you pitch a for, had a bad attitude, or don’t do it there will be a consequence.
Hope that helps. It really helps Us with knowing that they heard me.