Ah, yes, the TERRIFIC Two's! You have a little independent one on your hands and you will love it as you watch him grow into an assertive thinker and doer, but right now...ARRGGHH!! I fell you, been there! Here's my suggestion:
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Your child is testing the boundaries, nothing unusual about that; 2 is a milestone age for a little one and they start to recognize they want independence, they are capable and want to do it their way! There are changes in the way he is being expected to behave and there are changes in the way he receives the information and we mom's start to see the first real glimpses of the personality we'll be living with for many years to come. I
I never used the word "no" so I never heard the word "no" from my then-2year old. I would say "Let's do something different" or "That is not safe to do", etc. Instead of saying "Don't touch" I would model and say "Look with our eyes only; these things are not ours and we don't want to break them, so just look with out eyes" and I would put my hands behind my back and lean a bit forward, my 2 year old would mimic the same behavior. (I also used humor and alot of animation in my expression as I would tell her that I knew a little girl who looked a lot like her and was about her age and just like her she wouldn't stop doing what her mommy asked her to stop doing and, well, let's just say you should stop doing that....her eyes would get as big as saucers and she would quickly fall in line with what I needed and I would praise her for her wise choices, lol).
Additionally, I would suggest we pick our battles. Removing shoes in the car is probably as common as it gets, remember clothes are really not their thing, lol, a 2 year old would rather be in the buff, and can you blame him? So unless it's in some way hazardous, let him remove them and of course, because they grow so fast, let's make sure they aren't uncomfortable.
Part of it is he knows it pushes your buttons. Instead of telling him not to or giving him some response as a result of doing it, invite him to do it and don't react when he does. For the kitchen: kids love to be in the cabinets, banging pots and spoons together, give him things he can do in the kitchen.
Bottom line is be careful not to become the voice that is always telling him what NOT to do, the "don't do this" and "don't do that" voice that he hears constantly, there's just nothing developmentally positive in that. I don't pretend to have the answers, but I knew I wanted a child who wasn't afraid to explore because I was raising an adult who I needed to be able to venture out and explore. So, identify a little place in the kitchen that is his and where he can play with things that are safe for him to play with. Let him take the shoes off if he isn't throwing them out the window.
Good luck and don't forget...Love and Logic Institute at loveandlogic.com