How should children be reared to be good citizens, good parents, and good thinkers? Starting from day one do not let your baby "cry it out". Recognize that typical babies generally only cry because a certain need is not being met. Almost always those needs are hunger, physical discomfort (pain, soiled diaper, etc.) or tiredness/need for sleep. A baby whose needs are met quickly and consistently develop confidence in their care and environment which in turn promotes independence and being well adapted as they grow into toddler years and beyond. Do not ignore your babies cries, instead, meet their needs.
Also, make a practice from an early age of telling your children what the correct action or language is to be used in a given circumstance, rather than only telling them their current behavior or language is incorrect. For example. If your 3 year old says, "give me that water right now!" Don't just say, that's bad. Tell them, "may I please have that water." In other words, give them the action or language that is appropriate for that instance. Reward behavior you want to see.