I know they won’t understand, but the fact remains they are a 10 year old and can cry about it all they want but they are still a child and supposedly you are the adult. Who really runs your household?

My dad used to do that, I don't speak with him much anymore.

Constantly reminding someone of your authority surely leads to resentment over time. Is it not basically a recipe for your kids systematically removing you from their life as they grow?