This might not be as clear an answer to be helpful, but...
Everything I do with my dog has a reward attached.
Some of that reward is praise, some play, some treats, some is following through with releasing my dog.
That "release"
is a reward because it's essentially me taking all pressure away and letting my dog be as silly as he wants (within some level of control) before I reel him in to work again.
The reason why I started training very early with Jacks is to really establish that "training is playing" mentality in his head. I didn't do that with my Danny, and it caused some difficulties in motivating him later on.
So I firmly believe that if you want that "easy route", it's best to start building a correct foundation as soon as your puppy comes home. I know I will be better at that with my next dog, but as it is - it really makes training a pleasure and a breeze with Jacks.
That's where the making your dog "want to" comes from.
"Have to"... when I ask my dog to do something, it's either:
1. I'm teaching/training him and making it very easy for him to perform that action and win rewards. Over time as he is more consistent and spot on, it becomes -
2. I'm testing/drilling him and it's sometimes more difficult than he'd ever encounter in a trial. Rewards are still used, but are more of a jackpot. I'm asking him to do more good behaviors before he wins a BIG reward.
Either way, I never ask my dog to do something I don't think he CAN do. And those rewards or release don't happen until after he does that action. He has to do it right, otherwise a correction happens and we repeat.
Probably a good example was something I did with him this evening. I saw his rawhide bone was down the hallway. I pointed him in the right direction and told him to go get/bring the bone. Even though he didn't particularly want his bone, he still went and got it.
If he hadn't, I would have taken him by the collar and a bit more firmly sent him.
Very early on when I was sending him outside to bring his toys in or having him pick up after himself, I obviously made that retrieve a lot easier for him - breaking it down individual actions (going out to the object, picking it up, and bringing it back to wherever I wanted him to bring it before I tell him "OK).
*** I should make it clear I am very gentle and soft handling with my dog. Corrections
can be gentle and get the point across.
