The article left out a key part of 'make a request', which is Rosenberg redefines the word slightly. It isn't really the right word to use; what it means is 'don't complicate a request with unrelated matters'.

"Clean this up before you do anything else." isn't necessarily a Rosenberg-demand and "would you be willing to put your socks in the washing machine?" isn't necessarily a Rosenberg-request. The test is what happens if the person says no.

If in the first case that is the end of the matter then it was secretly a request dressed up in hard language.

If in the second case there is an hour of cold-shouldering and recriminations then it was really a demand dressed up in flowery language.