| | Ted,
Criticizing, Blaming, Complaining, Nagging, Punishing, Bribing or rewarding are all necessary for every person to live. Threatening is necessary for a government to do its job right (the job is to protect innocent people). "Bribing or rewarding to control" is an impossible concept.
To criticize, to communicate like and dislike behaviour, correct and incorrect answers, is extremely important in helping a person figure out what is liked, what is disliked, what is correct, and what is incorrect. Could you imagine a relationship where you only told the other person when they did something you liked, but you never mentioned anything when they do something you don't like? Could you imagine a mathematics teacher that only marked correct answers as right, and never said anything about incorrect answers? Complaining, Nagging, also forms of communication telling a person how you feel about something you don't like, but these words have negative connotation.
Threatening, backed by execution, is necessary in legislature to bring justice to force initiators. Of course threatening to initiate force is a terrible thing. But warning that you will end trading and take your business elsewhere may be necessary.
"Bribing or rewarding to control" -> no. You can't control a person by bribes or rewards. You may very well influence the outcome of a decision to a person making it (which may or may not impact their decision), but the person is still free to act, and the decision is made without coercion.
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One critical aspect of objectivism is rational selfishness, and that altruism isn't necessary and even harmful. What does William Glasser have to say about that?
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