I like dogs but it sounds like your's is untrained. My dad's dog literally is the best trained dog I've ever seen as a family pet. He automatically heels even when off the leash, he will stop and come back when called (even if he was about to chase after a squirrel or something), he rarely barks and will stop when told, and in short is all around pleasant. No, he didn't start out that way and it took several years of very consistent training to get him that way but the end result is well worth it. Just be a good owner, put in the hard effort, and train your dog.