i have been feeling the same way.
from the time my daughter was crawling and walking, people would ask us how we could leave things exposed, like a wine rack, electronics, potted plants, etc. we would just tell our daughter repeatedly, "don't touch that". over and over and over. eventually, she would learn that she couldn't touch, and didn't.
i find it MUCH harder now to do that so calmly, because i feel like she knows better. when she was one, i thought, she can't help herself. i try to remind myself, that while she does know she shouldn't touch, she doesn't have the self control not to. she still needs the same reminders. also, i think they tune us out when we yell, or talk from another area. my daughter responds 100 times better when i get on her level, and speak to her. also, i have to be very direct, and say "go put your shoes in the basket" instead of "why don't you put your shoes away and then..." you have to get their attention first.
i think we get what we expect from our kids, but our expectations have to be realistic. their 2 yr. old brains work very differently from ours and they do not understand or care about being late, schedules, messes, etc. so, we get frustrated, even though they really can't help it. but, we have to keep teaching them so that they will learn when their brains can finally understand.
also, make sure they understand what areas are off limits, such as certain cupboards and closets (or all of them), your room, etc. then, if they violate that, make sure they have a consequence. try to associate the consequence with the behavior. be consistent. i find that my daughter respects rules/boundaries/off limits areas much better when they are VERY consistent. again, 2 year olds cannot understand why they can go in a closet to get out paint one day, but not the next.
finally, when i find that my daughter is just out of control (usually when we are getting ready to go or do something, and i have to go find her, she runs away or doesn't cooperate), i just tell her she has to sit in one place (on the rug, on the step, etc.) and she will stay til we're ready to go, or move on to something else. we started doing the "naughty corner" when she needed it at a very early age, and she actually stays, so i think she does understand that request. it helps my sanity, and in turn, helps our relationship!