Hi Paul
Good easy book to read is Jan Fennell (The practical dog listener). Dogs have a heirarchy and like any hierarchy you need to know the order. Humans wear uniforms so its easy for us to tell the hierarchy. Dogs only have fur so they do certain things(little rituals) and you can see this in a park when dogs greet each other (one may put his head over the neck , or roll over on stomach, or play bow etc)
These rituals are to show who is Alpha dog and alpha dog makes the decisions. One ritual is when you come back to the house, you don't even look at your dog. Then when it is relaxed and not making a fuss over you then you can call your dog over to you and play/praise/pat. What you are saying in a round about way is "I am alpha, I can come and go as I please and when I want you in my personal space I will let you in my personal space". Human equivalent -if a major walks into the room all junior ranks do not speak to a commanding officer until the commanding officer acknowledges them.
Once dogs know someone else is alpha they are alot more relaxed as they don't have to make decisions which to them they think are life and death (protect the pack, hunt for food, find a mate).
Hope it makes sense
_________________________
Cats Rule - Dogs Rock!