Make your dog respect you!
An easy start to this is not asking them but telling them to wait at doorways, for meals and for anything of high value. This puts YOU in control and this demands respect from your dog.
Permission-based training is the start of what we consider the best training for family pets.
Dogs that do not wait for anything become impulsive, and lack manners and respect for most things. By demanding respect through training thresholds you are putting yourself in charge, therefore your dog will be more self-aware and gain impulse control.
This is the start of your new relationship.