It’s all about tone of voice
Dogs are very responsive creatures: they play with you, cuddle you and generally just want to please you. If you find this all a little too difficult to discipline them, remember you can say wonderful things to them in an angry tone and they will still get the picture.
That’s why you can sometimes insult a dog, but making it sound like you’re about to say ‘walkies’ will have them chasing their tail around the kitchen or reaching for their lead immediately.
Likewise, you can tell them ‘Benson! I love you!’ as though you’ve said ‘Benson! Get off the settee!’ and you can feel better for not telling them off, but knowing that they will listen to you.
It may take some practise not getting tongue tied, but Good Luck!