The best way to teach your pet new tricks is to entice him with various toys and comb him every time he does something you like. I've been able to get my pets to stand up on their hind legs, jump, run and slide - all sorts of cute things. All from giving them toys, watching for them to do fun things, and rewarding them.
As for discipline - I don't usually hit my pets, since they really don't misbehave very much. I usually reward the stuff I like and ignore the stuff I don't, and that seems to work for me. However, since you asked, playing with their "poo" might qualify as a disciplinary situation, as might incessant "barking" or "meowing" if that annoys you.