This question will make your life easier. That's a promise.
Too often we impose something that's just not necessary, when the worst that can happen is them experiencing some discomfort. And discomfort is something that helps us learn.
We have standoffs about wearing a coat if it's cold, but if they're cold, they'll learn to wear their coat. We get into arguments about not taking a toy out with them. If they lose it, they'll learn not to next time. We find ourselves barking instructions in the playground about not climbing the wrong way up the slide, or jumping off the climbing frame. Provided they aren't going to break their own, or someone else's leg, what's the worst that can happen?