Do you ever have to force your toddler to do things?

I am talking about necessary things, like brushing teeth, lying down for a clothes or diaper change, getting inside the sleep sack, etc. I feel terrible having to physically hold him down, like I am not respecting him as a person by using my size to impose myself on him.

At the same time, these are things that need to happen!

Obviously I always start "nice" but it often ends up being the hard way instead of the easy way.

Anyone else feel conflicted about this? What to do?