When wanting to exhort someone in something, you may admonish them.
"You are docile today. Did your sister admonish you?" (Black)
"AND we urge you, brothers, admonish the idle, encourage the faint-hearted, help the weak, be patient with them all."
"I ask the court to strongly admonish him and the next time it happens, I will be asking for a mistrial with prejudice."
ad-
to
mon
advise
-ish
relating to
admonition
admonitor
Latin
admonēre, to warn
The meaning when first in use probably was to warn originally due to the fact that it came when cultures were ending and people were finding new land, and new beginnings.
To warn intends a negative connotation at first, and impends for fear, of the unknown. But, it probably adapted to, to advise, due to what they first feared became less frightful. So then that negative connotation became positive, which is to advise.