I think putting “Please” before a command is just a way of being polite and showing respect.
Also, I think your example is more of a request than a command. In other words, they could have said “If you want us to loan you money we require that you sign the form and return it, if you do not do so, we will not loan you money, it’s up to you”. Putting “Please” at the beginning of their request says the same thing with a lot less words 🙂
I don’t mind when my bosses tell me to do something, but I do feel it shows some respect when they add “please” at the beginning. Do you think it would be better if commands (or requests) were stated without the please?