I don't have kids but this is pretty much how my dad raised me. It made me really respect when he gave me a hard no for something, it meant "no really the risk majorly outweighs the reward" and even if I didn't understand it at the time I trusted it. I got a lot of I told you so after varying seriousness of injuries lol. Eventually I learned that the soft warning meant I was going to have a lot of fun but I needed to be ready for if it went sideways. Now I've got a pretty healthy sense of my own limits and when to start gauging risk/reward