So true! Some people are shocked when I tell them that I started telling my kids, "No" when they were 6-7 months old. (you know when they start touching things that could be a danger to them). But, like you said, it lays the foundation. I think too many parents think that their kids will just eventually start to behave and listen all on their own, as they get older. Not true! Parents need to stop thinking of disciple as a bad thing. Kids need structure, kids need boundries. It's a parents job to provide these things. It's much easier to start early.
*snip*
Sometimes I hear this: "You're lucky to have good kids." Like it just "happens", no effort involved!

My DD was born with what I call "huge brat potential". She started hitting me when she was just 5-6 months old whenever I told her "no" -- like when I wouldn't let her pull my hair, earrings, poke my eyes, etc. She'd haul off and smack me across the cheek. After a while I was ready for her. I'd catch her little arm before she could make contact and look her in the eyes and firmly say "No". Of course she would cry bc. she wasn't getting her way. My older boys said, "Awww mom, she doesn't know." And to that I replied, "Well it may be cute and funny now, but when she is 5 and up and still hitting me and everyone else, how cute will it be?" Nope, nipped it in the bud. It took about a week and she never hit me again. She realized it was not acceptable behavior.
The truth is, discipline may seem the more difficult choice initially, but in the long run it's easier. The payoff is so worth it.