I liked what Bonnie C. had to say...
Personally, our son is 13 and sometimes he's great at helping and sometimes he could be better. At 7, I realized that sometimes he truly did not hear me. He would be absorbed and my voice was not registering when he was immersed in something. When I would ask him to do something, I would ask him to repeat back to me what I had said. If he got that part right, he was more apt to do it. Then I knew his brain was truly engaged.
Another thing we do is to say it verbally first, then write a list of tasks to help remind him. That way, the onus is on him to complete the task. I still feel like a nag sometimes, but the more I compliment him on the work he has done, the better he is at getting various tasks done.
One challenge for us is that our son tends toward ADHD, the inattentive type. It's not enough to be medicated or anything like that, but just enough to be frustrating for him or for us at times. At first I thought he was just lazy and couldn't stick to things. Now, I realize he just operates a little differently.
Our son is now blossoming into a more responsible kid. It's great to see, but it's taken a long time to cultivate. Repetition is actually needed with him. It helps keep him on track. To help him "own" his responsibilities more, we started writing lists for him. It gave him a sense of accomplishment to be able to check off various things, and it took me out of the nag loop (at least a little).
The other trick is to be attentive to how I attend to tasks. Sometimes I'm a great example for getting things done and sometimes I'm not. So, I guess some of this he comes by honestly.
Respect is a challenge we all struggle with. My challenge is to respect his learning process enough to allow him to try it himself and to let him fail. (But I want him to do it right the first time...if he'd just listen to me! : ) I know it's hard, but sometimes I have to sit on my hands or figuratively cover my mouth to let him take the initiative. But, slowly, he's beginning to get it.
Lastly, try not to extrapolate into the future too much. I'm notorious for doing that. As long as you attend to things at the specific age you're at, you will likely do just fine when the later years come along.
I can't stand the response parents often give of "because I'm the mom" when kids ask why they have to do something. But I have used this alternative argument many times--"it's my job to teach you...". It pisses him off when I ask him to do some things, but he also knows I'm asking them out of love to teach him habits that will serve him well in life.
Good luck!
P.S. Charts never worked for us. They work well for some families, but our son would lose interest in them quickly.