there needs to be a love factor, more than a common knowledge of a submissive-commanding relationship. treat your dog as you would treat anyone else, love them, and they will respond to you better. when they love you, they want to please you and have a happy correlation between the both of you at all times. in my opinion, that is better than a master-servant type of relationship. an equal basis, love bound relationship is the way to go.
To train a dog on how to do something, you need to be commanding so that it may obey what you tell it. For example, to train it to sit down, touch down and tell it to sit. Get more tips at http://www.dogs-trainingtips.com/.