What's the best way to get my squad to listen to me when I provide guidance and direction?

Treat them like your brothers, not your friends. You can be friends, but there needs to be a professional line as well.
But mostly, be someone they respect and look up to, and they'll follow you. As Sun Tzu said, "treat your men like your trusted sons and they will follow you into the darkest Valley".

Some old saws for your kit.

Be fair. Be firm. Be resolute. Be responsible. Be respectable.

Demand a lot from them, but more of yourself.

They're watching... Every time you cut a corner, pencil whip a task, "just get by" or act the ass; you just showed them what is OK.

Finally.... what gets well-inspected, gets well done.

Well if you grew up with these squad members they may have a problem seeing you as the squad leader and you will need to be all bossy. No matter what you do, if you are going to be successful in the same squad you will been to be all bossy until they get that your the guy responsible for the actions. I was in the same situation when I got my first Bn scout squad in the 82nd. E4 squad leader. As a team leader you all still had a boss to take the flak but now that guy is you and the buck stops with you. If you are doing a good job you will hear comments like, those stripes have gone to his head, he’s a jerk with those stripes, and worse. That what being a boss is about. Being responsible. You don’t have to be a jerk but you have to make them do what has to be done. If you don’t and you act like your one of the boys they will run over you and your PL will look for someone willing to do the work.

I understand your situation. While in C Co 1/325 AIR I received my chevrons. My 1SG told me that downtime was a thing of the past and that he expected me to use my training and education to lead my Soldiers. Hold them to the standard while holding myself to a higher standard. Supervise but do not be afraid to get my hands dirty if needed. I made my best bud know that everything I do is business and that it is nothing personal because I have a job to do. The days of us hanging out socially are over. He understood that but others did not and therefore I distanced myself from them. Being a leader can be lonely at times because you have to be fair and impartial at all times. Once you show favoritism then your credibility is shot. Make sure that your team understands the tasks, conditions and standards and hold them to the standard. You are no longer a SPC and below, you are a CPL striving to be a SGT-SSG and you must conduct yourself accordingly. Follow what is outlined in the NCO Creed and you will do well. When you made the decision to seek promotion you were saying that you were ready for the challenge.

Sit your squad down and acknowledge their part in your success, your plan to help them be successful, and state your expectations.
Bossy -- No. Hell no.
The delegated authority granted your position, and your rank, when promoted, are all you need. They are aware of it, and only need reminding if they fail to meet the standard or blow you off. At this grade, and future, it is the Soldier against the standard and themselves, not against you, or vice versa.
I'm not opposed to a few beers, as long as anyone who doesn't drink or is not of drinking age, is provided an appropriate beverage, and believe it can be a team building moment.
I always believed that newly promoted SGTs who "grew up" in a squad should, in general, be reassigned to another PLT. Either your leadership doesn't share this philosophy, your unit is experiencing great shortages at that rank, or your performance to date warrants an exception. I hope it is the latter.
Don't hesitate to ask what their expectations are for you, or what they believe you could improve (as long as you can handle it). There is nothing wrong with that, and it will go a long way.

Question? Have you in the past year, ever been overly friendly with them in any aspect as in peers. If so, you need to nip that shit out, stand apart. It’s time to grow as a true leader and seperate yourself from them even if some are also same rank e-4’s. It’s time to find new friends. What you can do is provide purpose direction and motivation and hopefully they respect you enough to do what is told and perform stellar for you. Those that don’t or seem to what to be buddy buddy, you have to pull aside and tell them how it is and will be. Hopefully they get the point and follow your lead. Good luck

Simple. Talk to them instead of yelling at them. You’d be surprised at the level of respect that they’ll have for you. However there are some folks that require the latter response.

You have to get the respect of your people otherwise all you can do is give orders. If they respect and trust you, rarely will you need to order them.

I learned mostly by following the example set by my leaders.

Might be too old-school for today’s Army but do some team building on Friday night either at a popular hang-out or in the barracks around a case of beer that you bought. During that time have a casual conversation about what your expectations are and find out what their expectations are as well. Then be all business on Monday (but approachable)