As for Dexter. I let him off the lead on our walk and he really loved the freedom of running around. Although off lead, he never ran off or went too far away.
The habit he had of trying to sit on chairs etc. when he first arrived has now gone and he's learning very quickly that he comes through doors after every person. He sits and waits patiently until invited in - or out.
This makes life so much simpler, irrespective of the dog size.