Dog training ~ "say sorry...now!!!"

It's my role that each dog needs to learn when they get punishment. Most likely be a bad toilet habit. My dogs know what it's right or wrong. They could recognize from my voice and reaction. I tried to be nice; fortunately, my dogs love me to be tough a little bit I guess. The way my dogs react is standing with two legs and trying to look at me with two little sassy eyes. When I ask them to say "sorry," both of them do the same way by licking my face. I told them, enough enough enough...