I ask my kids to do chores for selfish reasons

I ask my kids to do chores for selfish reasons. It is one of few things left that I can still command them to do, and most of time I can see results instantly. In other times,  my kids would reply “I am in the bathroom”, “I am doing it right now”, “I am brushing my teeth”, “I am helping mom", “I am doing my homework”).   Another reason is that I want them to have a sense of accomplishment; no matter how small the task is, have a sense of starting and ending a simple task, have a sense of taking directions.  They can delay a chore, swap chores between them.  Chores must be done.