By standing up very straight and tall when I am with my dogs, it automatically gives off an air of authority. I walk with purpose, all tall and confident. Like a leader should. When I do this, they follow.
I started making the dogs sit for their meals and treats. Sometimes I use the verbal command, "Sit!" but 99% of the time, I just look at their butt, nod my head, and they sit. No verbal command required.
I noticed that Hector, in particular, gets excited at the sound of my voice. Mostly because he doesn't understand the words, and to him it must seem as though I am barking. He will get all wound up if I say "Hi!!" to someone in an excited or loud voice. Particularly if we are outdoors, or if someone new is at the door.
Similarly, Hobie will start barking when Gil and I talk to each other. He is trying to join in the conversation, and must hear us as though we are barking! If I ask a question, that really gets him going!
So, on our walks, I stopped using verbal commands. I found that the more I talked, the worse things would get. Being silent, and actually acting like a dog, produces greater results.

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