It never says what the preferred alternative is. Just say yes or no? I was taught it was disrespectful to omit the honorarium. Just saying yes or no (to an adult or superior) was considered short, curt, or low. If you get mad when I say ma’am or sir, that is your problem, not mine.
When I was a kid if my father was talking to me and required an answer, if I answered insolently with a simple yes or no, my father would lower his voice to a growl and say “Yes, WHAT?”