Re bedtime. Yes, kids who are playing will want to continue. Set a timer or give a clear warning- you have 10 more minutes to play, and then clean up,. and then bedtime. This way, they have notice and don’t need to stop on the middle. Then, make bedtime fun and something to look forward to. Get them into bed earlier than you want them asleep, then read to them, tell them stories, let them read if they are old enough. This way, they wind down and look forward to special time with Mommy or Daddy. Lights out are at a set time (can even be put on a timer) so the routine does not continue beyond the desired bedtime.
If getting enough sleep still doesn’t help your kid get out of bed, then Mariana’s advice is good. Set alarms or wake up, open shades and lights. If they’re still not up, pull off blankets, pillows, play loud music. If that doesn’t do the job, for a younger child, come up with a chart/reward system- every day they are up without struggle by a certain time, they get a check/sticker. Enough checks/stickers earns a prize. Preferably prize should be related to waking up- maybe a new clock, pretty washing cup or towel, cute slippers. whatever works for the kid. It could also be an incentive like an extra 10 min of playtime or extra story before bed. If it’s an older child, and he can get to school by himself by walking or taking a bus, then letting him face the consequences of getting up late and missing his ride, so that has to get to school the hard way, may also work.
Showing parental authority does not mean you are modeling bullying, and a parent touching, restraining, or pulling a child does not teach him to be a molester. Sometimes children do need to be pulled- for example, kids are fighting, a parent could/should pull them apart.