That sounds like a dog that not sure of the pack structure in your house. If the dog bites without your command, it is taking alpha status from you and making its own decisions on how to protect the pack (your family). A dog should look to you, the alpha, for the signal to attack. Did the dog look at you when the visitors approached? If you did not notice, try a test and see.
Has the dog brought you or your family members a toy and you played with the toy with the dog? Has the dog been in your way and you stepped over or around the dog instead of foot shuffling the dog out of the walk way? Has the dog pawed a food bag and you gave him food? Have you let the dog sleep in the middle of a room, not near the wall? If so, the dog is confused because these are the control points of the pack alpha, controlling play, food, and sleeping location.
If you and your family and visitors take control of these things, the dog will accept its low rank in the pack and you won't have problems, unless the dog has a strong alpha drive. If it has strong alpha drive, that is a very different and difficult situation for a family dog.
Has the dog brought you or your family members a toy and you played with the toy with the dog? Has the dog been in your way and you stepped over or around the dog instead of foot shuffling the dog out of the walk way? Has the dog pawed a food bag and you gave him food? Have you let the dog sleep in the middle of a room, not near the wall? If so, the dog is confused because these are the control points of the pack alpha, controlling play, food, and sleeping location.
If you and your family and visitors take control of these things, the dog will accept its low rank in the pack and you won't have problems, unless the dog has a strong alpha drive. If it has strong alpha drive, that is a very different and difficult situation for a family dog.
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