Is it disrespectful to be firm?

Sonorous
Is it disrespectful to be firm?
Is it disrespectful to be firm?
For example:

Let's say someone is doing something you don't like. So you firmly tell them to stop. You don't yell. You don't insult them. Authoritatively rather than authoritarian-like, you simply use a breaking rapport vocal tonality to firmly express how you feel. Do you consider that to be a disrespectful act? If not, would you change your mind if that "someone" was an authority figure?

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Is it disrespectful to be firm?
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