I truly believe that kids LOVE and THRIVE on schedules and routines. My training taught me this, my experience in teaching "proved" this in my opinion beyond ANY shadow of a doubt, and my monkeys proved this 10 fold.
I also am a FIRM believer that kids are SMART. Often so much more than we give them credit for. (One of my first memories was of me thinking ~I understand so much more than my mom and dad know! ~) I know that with some intense instruction/training and time, your children can learn way more than you thought that they were capable of. It just takes YOUR time and YOUR planning. For example, I potty-trained all of my boys starting at 18 months and they were all in underwear by 20 months all day long and by 22 months - day and night! They rock, but it was a lot of dedicated time to the process but they ALL THREE got it.
When Gabriel was 3 1/2 and the twins 2, I decided that it was time for some basic morning chores/schedule. *Morning could be a very hectic time, so thus evolved the schedule.* They LOVE this thing! LOVE.... I explained how it worked. I trained them in their chores and these boys again lived up to, NO EXCEEDED!!!, my expectations.
Time invested wisely in children pays off in great outcomes.
So my children are now on a daily routine that starts as soon as they have asked to be excused from the table, put their own dishes on the counter and have washed their hands and faces. They are getting big and so capable. What a fun new experience for our family to be in little boy chapter vs. baby chapter.