'Learning by earning' gets a dog to mind
If your dog doesn't seem to be paying attention, you need to lay the foundation for good behavior by showing your dog with every interaction that he has to earn what he wants.
This "learning by earning" starts with the basics of dog obedience — sit and stay. Chances are your dog already knows these commands. If not, check out a class, book or video to help you teach him. Once your dog understands and performs these behaviors more or less on command, you're going to use them to reinforce your authority, gently but persistently.
Ask your dog: To sit before you put his leash on for a
walk. To sit before you pet him (which will also keep him from jumping up) or throw a toy for him to fetch. To sit and stay when his bowl is placed before him, and hold that position until released. To sit and stay before the door is opened, to sit and stay before being let out of the car into the park and so on.
Be patient. Your dog will soon catch on as long as you're consistent in insisting on his good behavior before good things come his way.
No sit, no reward, no discussion.
The real beauty is what's happening deep down. Without raising your voice, jerking a leash, spanking or otherwise roughly handling your dog, you've made it clear to him that there are household rules that must be followed. And that's going to make everything else about living with and training your dog easier.