A dog comes when called when it's in the dog's interest. That's only natural. If you're calling a dog to go for a walk or get dinner or a treat, it will be all ears. If the dog's busy baying up a tree at a squirrel or you're trying to get it to mind you on a leash when it's interested in the dog across the street, you're a murmur in the background. You are simply not as interesting as the squirrel or the neighbor's dog.
Having a deferential and attentive dog is really part of your total relationship. There is no one training exercise or rule. However, there are plenty of daily interactions you can use to build a better bond. The more your dog listens to you and looks to you for guidance, the more trust it has in you, and the calmer it will become....
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Here are some ways to increase the effectiveness of your dog obedience training.