If you want to teach your dog a skill like “only come out the door when invited” you know, instead of charging out like a fool or slipping through like a sneak, whenever the door is open; start with a less distracting door.
Its easier to teach them wait at the boring bedroom door than it is at the high value, bell ringing, people arriving, freedom beckoning, front door.
Once they ‘catch’ the idea at the bedroom door, and are reliably waiting there, then you can work on the very exciting front door.
Even though they already know it at the bedroom door, dogs don’t generalize well, so pretend they don’t know it all when you teach it at the front door.
And just like any other behavior, practice practice practice!
Oh – once they ‘get’ it at a couple different doors, its gets easier to move it to other doors and places.
I taught my two little dogs not to charge out the gate in the side yard that goes to the front yard/driveway. I want to be able to move the mower in and out, sand for the sandpile, yard refuse, etc, with the gate open and not worry about them following me out to the road when my brain was busy and I might not watch them. Yes, they are boundary trained, but no way am I trusting their lives to their judgement. They might ‘forget’ if they see someone walking down the road they want to greet. Or a squirrel.
So – we got it down. I open the gate, say “Eh!” and they wait on the yard side.
But one day my little doxie decided he Needed to be with me! HAD TO. MUST. He wouldn’t come out the open gate I had told him not to come out, however.
So he ran around to the other side of the yard, slipped under the fence and danced over to me. “Look, Mom! Here I am! Come to help! But I minded! I didn’t go out the gate!!”
And his brother was standing on the other side of the yard going “HEY! That’s not fair!!”
Too funny! And yes, I fixed the hole in the fence.