Consistency is key.
I totally agree. We get comments on how well behaved our children are all the time. Our in-laws couldn't believe that our children sat still in church. (these are the ones whose boy tossed a restaraunt buffet salad with his hands and sat on the dining tables when we went out to eat). You have to have your kids in line by aged 5 or you will never have control of them. (that is my theory). And you have to do whatever you threaten them with or they won't respect you.
Also agree. It is not the easy road to have continuity with your rules but it is very worth it. You cannot be a lazy parent and expect your kids to make you proud with their behavior. :o)
My parents referred to it as Choices and Consequences.
When we were old enough to understand English, they would say, "You know you're not supposed to do X. You can knock it off right now and everything will be fine, or you can keep doing it, and get punishment Y."
As the oldest, I felt it my duty to test them. I tested away. I ALWAYS got punishment Y.
Consistency is key to Choices and Consequences. The parents must always follow through on what they threaten. (Good reason not to make your threats too outlandish.)