Many of my recent conversations have had a common thread around how to create safety and clarity during interactions. A creative way to look at boundaries is to look at them like different "hats" to put on at different times.  The more clear about the "hat", the more clear the message AND the more clear the person on the receiving end can hear what is intended.  Although there are many variables to matching intention to impact, this is one tool that can be extremely helpful to having outcomes you desire.