I never liked my parents when they said "eat dinner" or I never liked my parents when they say "eat dinner"
I never liked my parents when they say "eat dinner
I never liked my parents
....past tense, specifically before this moment as I speak
when they say "eat dinner".
Present tense form of the verb, stating a fact that has a 'universal truth' meaning for you - you didn't like it when you where young, you don't like it now, and you won't like it every time they say it in the future.
Can you see in the first clause, you have placed this as a distinctly 'past' event, but then go on to state something that is 'timeless' - past, present, and future.
It must be,
I never liked (past tense) my parents when they said (past tense) "eat dinner"