劝 (quàn) is the everyday verb for 'to urge, to try to persuade' someone to do or not do something. It's more general than 劝说 (quànshuō, to persuade with reasoning) and less formal than 劝告 (quàngào, to advise/urge, often as a noun). 嘱咐 (zhǔfù) adds a sense of earnest concern, like 'to exhort with care'.