I rushed them into the car as I didn't want to be late
What was your reason for not wanting to be late?
I don't know, habit I guess.
Rushing people because you're late is fine. Hopefully you can all be more organized in the future so you can be on time without rushing.
I'm rushing them because I'm a control freak and I always yell in fear.
It is ok to put a little pressure on someone when they are behind because this is the same as reminding them of the time in general. Doing it simply because you want to control them is probably not a very morally correct thing to do.