I have three children -- one teen, one preteen,and one three year old -- and I teach. I have found that children generally do exactly what you allow them to.
If you do not allow them to be "wild" (ADHD or no), they won't be.
Sometimes the consequences need to be a little stronger than "Please honey don't do that." Personally I have always been in favor of the scoop and leave tactic with little ones. They don't behave -- scoop them up and take them home (and next time, you will go without them).
I also suspect that many of those parents of well behaved children favor a swat on the back-side occasionally -- I am not sure this is the best option, but it does seem to work.