@FiremanMike has great advice, I'm going to give you a slightly more jaded version.
You don't have to like your patients or their families, but being rude to them doesn't get you anything but trouble. Studies show that one of the largest predictors of having litigation against you is your patients perceptions of how much you care, not the quality of your care. Same translates to having complaints against you with the state or management.
It is easier to deal with happy patients than angry patients. This doesn't mean you need to provide treatment that you wouldn't otherwise give or withhold treatment they should have had. It does mean you should be polite in tone, syntax, content, and non-verbal communication. I'm still going to call CPS, but I'm going to tell you that it is because I'm concerned for the safety of you child and my legal obligation as a nurse and not as a judgment against you; and that my hope is that they can help you with resources so that you can have a great outcome with your child.
The patients that call 911 for primary care problems are well aware that they could have gone to the pharmacy and picked up ibuprofen, they chose not to. It might be that calling 911 was cheaper, it might be that they think calling 911 will be faster, it might be that they couldn't get a PCP appointment for two weeks. Regardless of the reason they called 911 and in the vast majority of the US that means that you are obligated to drive them in. The 911 system is rife with abuse; be it law enforcement, EMS, or fire.
The 911 system and ED will always have non-sick patients, this is part of your job. If you want to exclusively have sicker patients then you need to work where they are at, be it critical care transport or an ICU. Mind you that their families are still around and the patients are often still not particularly pleasant.
If you cannot deal with this (and mind you it takes practice and time), then EMS might not be the right spot for you. Between the pay, scope of practice, and political nonsense I got tired of it and left the 911 system.