Delivery room coaching

I'm pregnant with my third baby. My first two delivery experiences were not what I wanted. First one was at 33 weeks and totally chaotic. Second was better but still not what I wanted. I hate it when people tell me to push. I want to listen to my body unless something is wrong. I just want support... Tell me we are almost there or that I'm doing good. Dont tell me what to do. I did get epidurals because I'm a big wimp but I could feel everything it just didn't hurt. I love my Dr by the way. Anyone have similar feelings or any advice?