Kids do the opposite of what you ask because they can't process negative commands and lose impulse control when emotions spike. Instead of "don't bang the cup," try "keep it still so you can drink." Instead of "stop kicking," offer "run on the spot" or "feet on the chair rung."
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Parents tell me all the time how incredibly frustrating this is. You've said, 'Don't bang your cup,' or, 'Don't kick me under the table,' and they carry on. So here are two things that you're going to find really useful. One is that we can't process a negative, so they actually hear 'bang the cup' or 'kick me.' And two is that we're expecting a child to have impulse control just at the point when they've got a heightened emotion and wanting to test us. So here's an easy answer: I need you to keep the cup still and then you can drink from it. Or you choose: keep it still and/or I'll hold it for you. The other one is: you've got feet that want to move. You can get down and run on the spot or you can hold your feet still on the rung of the chair underneath you. Is this helpful? Give me a like and also hit follow so make sure— to make sure that I make more stuff like this.