Adding “loving” to “limits” does not make the limits non-coercive, it just adds confusing mixed messages to the coercion. The parents are coercing the child while acting as though that is not what they are doing. They are pretending that they are not responsible for the distress they are in fact causing.
Life is not black and white, but rules are. Punishments try to make the world fit into the categories of black and white but kids judge that there are greys anyway.So we help our children learn about those greys instead of just ignoring them they way many parents do. Iit leads to safer children.
Obeying, including ‘cooperating’ that is not wholeheartedly chosen with perfect freedom to choose otherwise, is violating one’s own standards.