Show gratitude and appreciation
Setting limits with your parents is not a disrespectful thing to do. It is in fact healthy to state your boundaries and expect your parents to respect those needs.
However, it all depends on how you go about it. The manner in which you tell them and the words you use. When you choose your words carefully you can avoid hurting your parents’ feelings.
It is a conversation to prepare for. It is best to sort your feelings ahead, identify what bothers you, and identify possible solutions. In all, it doesn’t hurt to let them know just how much you appreciate them.