Certificates and permits issued under the provisions of this chapter authorizing operations as a household goods carrier shall be effective from the date specified therein and shall remain in effect until suspended, revoked, or terminated as herein provided. The department may, after notice and hearing, upon application or upon its own initiative, amend, suspend, or revoke any such certificate or permit in whole or in part, for willful failure to comply with any provision of this chapter or with any lawful order or rule issued or adopted by the department.