This is a pet peeve of mine, too... I do it all the time, and I cringe when I catch myself doing it. I also find myself saying "Kid, could you do xyz chore?" when what I mean is "Kid, go do xyz chore." The kids are constantly peeved at my habit of asking them to run and do something when I'm trying to tell them to do it now or quickly. "Run upstairs and get dressed!" "Do I have to run?" Well, no, I just mean do it quickly.
Is it a habit from when they were toddlers? DD is more likely to go along with something and actually do it (e.g. getting dressed to do something FUN) if I tell her to "run and xyz"
I swear she's going to be 12, able to understand time, and I'll still be making things sound more urgent than they really are.