Remember, counseling does not have to take place in a formal office setting. For me, the FTO counseling can occur on the side of the road, in a patrol car, over coffee in a dive of a diner, or wherever life's little moments occur. I've never liked to delay counseling because it's like the "wait until your father gets home" threat made to a fussy child.
For me, counseling should be made in a timely fashion. If you're performing a skill or task unsafely or improperly, the correction and reasoning of why should come while the event is still fresh. Not in the middle of a call, but after the dust settles. If an happened at the very beginning of a shift, you might forget about it if you wait until the end of the shift.
Secondly, if it was an error on the basics, then without intervention the mistake could be repeated with more catastrophic results on the next call. My cardinal rule is to praise in public and chastise in private. Step the recruit away and make the correction or verbal direction. Yes, if you must document this it can be done at the next DOR signing.
The toughest counseling sessions are usually the first ones, because you don't know the recruit well enough to address trigger points or have a full understanding of his or her knowledge, skills, and abilities. Counseling is a coaching skill to motivate a marginal performer to correct errors and maximize performance.
Here are hints for success with your recruits. Follow these steps. Start with the reason for the discussion: "You did X when the procedures called for Y, and this is a failure/safety violation." Give the recruit a chance to explain his or her stance and the reasoning behind it. Now, reformulate your comments in response to this. Explain what was wrong, how the version is not acceptable, and what your expectations are for the next time and what the penalties could be. (Don't use "You'll get killed" too often).