Is it permissible to command children to do things to raise and accustom them to them, or did the Prophet, peace and blessings be upon him, not command children?

A boy is commanded according to what suits his age, and the commanding increases as his intellect matures. The Prophet, peace and blessings be upon him, commanded children with what suited them and forbade them from certain things. Examples include his command to Umar ibn Abi Salamah to say "Bismillah," eat with his right hand, and eat from what is in front of him. He also commanded Ibn Abbas to be mindful of Allah, and forbade Al-Hasan ibn Ali from eating a date from the sadaqah (charity).