Just like a child, your dog needs to be educated. In the wild it would be taught by the pack; in our world it's our responsibility. One of the biggest reasons dogs are brought to animal shelters is because no one ever trained them.
As a matter of fact, the shelters are full of rowdy and unmanageable dogs that lunge at everything in sight, don't come when they're called, etc. When dogs are a chore to walk they don't get exercised enough to blow off steam. If it's a suburban dog, it spends too much time in the back yard digging, pacing or perhaps fence fighting. His urban counterpart is chewing everything in sight and barking at every sound on the street. These behaviors are reasons people bring their dogs to the shelter.
It doesn't have to be that way. Teaching a dog functional skills can change things dramatically.