Cesar Malon has a few episodes that would help you. His advice is to tire of the dog out by exercising dog heavily. Then the dog does not have the energy to bother other dogs or people. He also stresses making sure the dog knows who is in charge. You establish that by not allowing the dog to eat until you tell him it is OK to eat, the dog cannot run out of the door ahead of you, you need to make him sit and stay when you open the door and then you walk out with the dog behind you, etc
I followed these steps when I got my dog as a puppy, and I feel like I have the best, well behaved dog around. He’s three years old now and my sweet companion.