I read a book a while ago called 'have a new child by Friday' or something like that. I didn't follow it perfectly but there was some good tips in it. I really recommend books like that - none of them are perfect but they give you good ideas that you can trial to help you figure it out.
I agree that getting them to tell you the rules of being in the pool before they go in and they agree that if they break them they need to sit out for 5 minutes or whatever - if they don't get out first time then they sit out the next time everyone swims.
I wish I had more advice for you - I hate the feeling of doubting your parenting. Maybe try to think of what you say will be punishments first so that you know you'll follow through?
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