Cues vs. Commands
Cue = A request from the handler for the dog to do a particular behavior.
Command = An ultimatum for the dog to do the behavior or else there will be a consequence. In my training philosophy this is not even an option.
I personally use cues and allow the dog the choice to do the behavior or not. If I have done proper training, built value in working with me, built value for doing a particular trick, and my dog does in fact know the behavior, then chances are he will want to do the behavior. This is because the dog has had a strong reinforcement history for doing the requested behavior.
I do not believe there is ever a reason to give a “command”. I would not “command” my students, husband, friends or wild animals to do something or else, so why would I even think about doing so with my dogs?
Just my opinion...