Spank um young, and you wont have to later
I have raised two pretty good boys, and I spanked them a lot when they were little. They joke now (they are 18 and 16) about being spanked with dog leads, plastic coat hangers, wooden spoons, belts, whatever "training aids" I had available. But I never left marks that lasted more than an hour or so, never ever bruised them, and I was alway swift and immediate with my correction. And I started when they were old enough to realize what NO meant, probably less than a year old. By the time they were ten, I didn't need to do it anymore, because they understood what was expected to them. Now, I ground them for the weekend, take their drivers license away, give them nasty farm chores etc. EVEN THE 18 Year old. And he still respects me in spite of it. I hate to compare it to dogs, but if you give the love and quality time they deserve, they respect and EXPECT the corrections when they mess up. My kids aren't perfect, they still do stupid stuff. But they fully expect the "hammer from the old man" when they do it. And they still sit on the couch with me in the evenings (when they are home) and we laugh at "My Name is Earl" together. You have to set the standard early, and stay the course. Just my two cents worth.
P.S. One of the better punishments I ever applied was forcing my son to ride three hours with me to a hunt test, and, with the exception of when I was running my dogs, I made him sit in the truck and read the bible. The WHOLE WEEKEND. He still talks about that one.