Kids do not always listen or remember like an adult would.
Being consistent is a big thing, I always stress with my daughter that is it polite and respectful to listen to mommy, daddy, elders. Sometimes I have to repeat myself numerous times, I know frustrating.
It really depends on the case.
Picking up toys:
---Ask daughter to pick up toys.... 15 mins later, nothing done.
---Ask again, this time let her know that whatever is not picked up will be taken away for a week.
---Sometimes kids need specific "orders" on where to start if it is a large mess, it is hard for them to process where to start and what needs to be done... ok start with barbie stuff and put it all in the barbie bin... next the coloring items... and so on... a lot more usually gets put away if I am there helping them with the skill of learning what to do.
---If she still does not want to pick up, well pull out a big garbage bag and put everything in it and put it in a closet for a week.
Caring for the house:
--- She puts her dirty close in the hamper... if she doesn't well NOT an option it is what you do to live in this house, it is shows that you care and are respectful for others in the house. When older (maybe 9/10, then you could take the clothes away that they have not picked up and only wash what is in the hamper, oh you wanted that purple sweater, well you did not treat it with respect so I thought you did not care about so I took it away... at age 5 just keep on her to put dirty clothes in the hamper).
---Help bring in the groceries, I usually have my daughter bring in a box of cereal, it just teaches responsibility, caring, and helpfulness... at least with my daughter (almost 5) we have bonded because we respect each other and help each other.
---Do not make a mess and leave it ALWAYS pick up whatever before moving on (eventually this helps cut down the toy issues/messes). If it is something of hers, she has to pick it up, follow the instructions under toys... but if it is something shared and she does not pick it up she loses her oppurnity of using whatever for a week (game, phone, whatever).
Running in parking lot, or other dangerous situation:
--- NO option but to listen. I stress to my daughter that I love her very much and that the parking lot (or wherever) is a big place that is safest when WALKING, holding my hand or walking right next to me (they like the freedom but she has to prove to you that she can listen and do it).
I guess that is all I can give for help without knowing more in the specific cases she is not listening in. To gain respect yourself you need to be respectful of her... I try to always ask my daughter please do something. We discussed that me say please is not saying she has a choice but that I am respectfully & politely asking her to do something. We also have the rule when asking for something or someone is asking something of you, you are always looking at each other in the eyes. That way you know each other is listening, and I usually say "ok, do you understand?" She either responds "ok, yes" or "no, what do you mean" and we go from there. Keeping communication open is better then demanding which usually shuts communication down for the other person.
It may help that whatever your discipline is have it be consistent (same punishment for that issue) AND it might help if you have the rules written down and posted. That way you both are on the same page, and to the kid they see that they do have the freedom to make their own choices BUT these are the consequences if they do not follow the house rules.