We report on radiofrequency techniques to generate and control dissipative-Kerr-soliton microresonator frequency combs on demand. Since the relative detuning of the pump laser and resonator primarily determines soliton dynamics, we devise an offset Pound-Drever-Hall (PDH) frequency-locking system to directly stabilize and tune it with radiofrequency precision. PDH locking not only guides Kerr-soliton formation from a cold resonator, but it enables systematic exploration of the detuning-dependent thermal and nonlinear processes that govern the frequency comb and opens a path to decouple the repetition and carrier-envelope-offset frequencies of the comb. In particular, we demonstrate phase stabilization of both these degrees-of-freedom with a single-soliton Kerr comb to a fractional frequency precision below 10^-16, to be compatible with optical-timekeeping technology. Moreover, we investigate the fundamental role that residual detuning noise plays in the spectral purity of Kerr-comb microwave generation.