Drive is related to Urge. Urge is a different concept from Discourage. Discourage is a synonym of Warn. Warn is a type of Inform. 
Charge is a type of Claim. 
Drive <--RelatedTo--> Urge <--DistinctFrom--> Discourage <--Synonym--> Warn --IsA--> Inform 
Claim <--IsA-- Charge 