Impaling is only a marginally more unpleasant way of dying than crucification - or at least I'd imagine the difference is rather moot for the subject. And that one was pretty popular back in the day too.

Hey fella, you're talking about my ancestor here.
We need another Dracula in our country again.

Do you know what order and discipline was when Vlad reigned? There's a legend about this:
A merchant left a town with the caravan for another town. At the middle of the road, he found out that he forgot his large bag of gold coins in the market. He rapidly came back, and he found it untouched and unharmed.
Order and discipline man.
...do I even need to point out this sort of thing is what tends to get said about Mussolini and similar fascists too...?

'Sides, obedience of laws merely out of fear is really just tyranny, and really only works as long as the subject thinks he may get caught. If authority is to be truly effective people have to want to uphold it - to such a degree that it is internalized and becomes a semi-instinctive response.