OP, in this job we touch people. Sometimes it is holding their hand, sometimes their genitals; sometimes we will hurt the pts because of a treatment and other times not.
Fact of the mater is 9 out of 10 times they called because they wanted help (the other 1/10th is because somebody else called and now I have to intervene and you absolutely don't want anything to do with me).
You need to tell them what is what, "Mike, I am going to do an IV in your hand here, it is just this straw that will go into your vein, not the whole needle. It will hurt for just a minute but try not to clench or pull away"
(if they say no, then document it)
Or it could be...
"Dave if you try to get up off this cot again I am going to handcuff you to it by any means necessary."
Depending on where you work and the laws in your area you might have to go pretty hands on with some pts.
I am in an urban area and my protocols state that I can't leave somebody if they have an AMS. If you are drunk and altered you are legally required to go to the hospital (if I get involved). You either come willingly or the police come, place a hold, and then you are either forced into my ambulance or you walk into it. If you don't walk- we go hands on.
You will find that because you are in the medical field, people will allow you to look and touch pretty much anywhere- do it because it is your job to do so.
A few notes.... If you suspect a pelvic fracture and you are checking for crepitus don't push really hard... slowly increase your pressure until you are satisfied with your results.
Work with the pt as best as you can, but if you have to go hands on, then fully commit to it.
Most of the time just talk to the pt as you are doing stuff and let them know why you are doing it/concerned, what you find, and what might happen down the road for the pt.