Disciplining a Toddler is impossible?

Alright, it's been a long time since I posted a real, solid post. My apologies.

Life has been swallowing me up lately...
We had a wedding last Saturday for P's cousin and then he and his Dad left for Alaska on Sunday morning. My Dad went to the hospital on Monday morning for chest pains and was released Tuesday. He passed all tests with flying colors!!! The Dr. said it was not his heart {THANK YOU, JESUS!} We are all glad it was nothing serious but also thankful he was able to put his manliness and stubbornness aside to go in and get it checked out! Both of my Parents work way too hard yet and I try to get them to relax as much as possible. This is a nearly impossible task, btw.

Speaking of impossible...

Disciplining Bennett is impossible. I don't know what to do at this point?!

First of all, I want to start by saying that he is all around a good little boy. I understand that when he gets tired or hungry it's hard for him to control his emotions as he is still a little boy. BUT that being said, I want desperately for him to grow up and be a well-behaved older little boy and young man. I do NOT want one of those children that's screaming in the store, or throwing food in the restaurant because you didn't order him what he wanted. I do believe this is one of my worst fears and I'm just not sure how to achieve this. He has NOT done any of this but I want to do my best to prevent said events! I have tried to do the TO thing, but he just laughs and laughs so it's hard for me to believe he's understanding it, or that my message is getting through at all. He does get a little dramatic when we tell him "No" lately... sometimes with full-on crying spells that are very, very, VERY hard to ignore. Heartbreakingly hard to ignore!

So..... what do you all do with your little almost-2 babes??? Or what have you done with your older kids when they were younger???

Hoping for some help!!!! Thanks Mommies, in advance!! :) Happy Thursday!