Shorter instructions work better
Children tune out long explanations, especially when they are already upset or distracted. A three-word instruction is more likely to land than a thirty-word one. Instead of "We need to pick up all of our toys because the house needs to be clean before your mom gets home and she will feel so much better when it is organized," try "Toys in the box, please." The explanation can come later, when the child is calm and listening.