With pre-verbal children we have to be creative and come up with concrete ways of conveying information about dangers, rather than just giving explicit explanations. (I suggest both.)
Many people undervalue what they want to do compared to what they think other people want them to do. They think that they need to be obedient, without understanding or feeling good about why they have chosen to do so. Doing this to yourself is bad enough. But doing it to someone else, such as your child, is even worse, because now it is not just yourself and your own reason you are violating and harming, it is another person.
When you have decided that it is fundamentally unkind to coerce people, but an authority figure is pressuring you to coerce your child, calmly say ‘sorry but I don’t agree with your fundamental assumptions’.’ All you need to concentrate on is that this is a difference in fundamental assumptions. Both the authority figure and you want what is best, and are trying to be kind. You just see things differently, because you view children differently.
If adults sometimes make bad decisions just like children to, why treat children differently?