Our girls are well trained and well supervised whenever we take them out in public or invite people into our home. As you can see, our 4 year old grandson and grandaughter are able to walk the dogs on a lead as our doodles have been trained not to pull, but to walk nicely on a lead, and to come when called. We attended puppy classes where the doodles picked up the ideas very quickly. This is essential and classes are useful even if you've had dogs before.
Forgive my rant but owning a dog brings a lot of responsibility, and it's important to get it right at the start.