In general, no. "Get to" implies that you'd be pleased to be allowed to do the thing, so it wouldn't be obligatory or imperative.
However, there is a situation where it works. Here's an example. You and your spouse are meeting with your family therapist. Your spouse says, "I don't think X appreciates the effort I put into the many phone calls I get during the day from my mother-in-law. And these calls are really not easy to deal with when she goes on and on about not wanting to live any more. For heaven's sake, she's 68 years old -- it's not like she's 89 and in a lot of pain."
The therapist says, "X, you get to talk to your mother on the phone, because she's your mother. And Y, if your mother-in-law calls when X is out, you get to take a message for X. Just keep repeating that in a friendly tone."
In the first sentence, the therapist is using "get to" in a double-entendre sort of way. The therapist is telling you that dealing with your mother is your job, and ALSO that as onerous as this might be at times, there is going to be some pleasure and feeling of satisfaction in this at some point.
Using "get to" in this way is a little bit sarcastic.