And by the same token, you immediately remove a freedom when he ignores your request. "I asked you to come, and instead of showing me how you could be responsible, you ran away. That isn't ok, because it meant I had to run after you and that you were paying more attention to running away than to being safe. And because of that, I am going to carry you to the car because I can't trust that you'll stay by me where you are safe from the traffic."
My daughter would have considered being carried across the parking lot a reward, not a punishment.
