So, you can keep your dog off the couch when you are at home, but every time you go out you come home to a couch covered in hair and a dog with a really sheepish look on his face. Not all of us want our pup to take over the couch and call it his favorite napping spot. The one thing you need to know is that you don't have to feel as though you are being mean by teaching your dog to stay off the couch.
While your pup is a member of your family, this doesn't mean that he has the right to use the furniture whether you are at home or not. Of course, your dog hops up on the couch because he loved to be comfortable. Yet the reality is, that as long as you give him his own comfy bed to lie on, there is no reason why he needs to get on the couch.
Simply put, dogs tend to do things because they get some kind of reward out it. For example, they eat because the reward is a full stomach, they play fetch because they get to play with you and are rewarded with plenty of praise. Likewise, they get on your couch because it's nice and comfy.
Your dog needs to learn that sleeping somewhere other than the couch can be rewarding and that sneaking onto the couch is not. As for a command to use, the only ones you should need to teach your dog are "No!", "Get down!", and "Stay down!" The best way to keep your dog from getting up on the couch is to start when he is a puppy and never let him get used to being on the couch in the first place.
This training takes the help of your entire family. You need to make sure they all understand that at no time should anyone ever allow the dog on the couch or pick him up and put him in their lap while sitting on the couch. But, if he is already getting on the couch, you will need to teach him that this behavior is not acceptable.
If your dog has already started hopping up on the couch, it is going to take a little time to teach him to stay on the floor and use his bed. The one thing you don't want to do is punish your dog by scolding him or, worse yet, smacking him. This may only make the problem worse and many cause other behavioral problems. Depending on the training method you choose, you may need a few supplies.
The rest is time and patience. It may take your dog a few weeks to get to the point at which he will no longer get on the couch. After that, you should be able to put that lint roller away for good.