We've been leading Chloe by the collar in the morning, going downstairs to let her out. This has been teaching her not to bark and nip our heels while she goes down. My husband found that if we let her go down without our hands on the collar, and we keep warning "Nice....nice....," firmly, she behaves! I joke that she's the "Demon Sheltie of Seville" but we love her. I posted about her bad behavior when my family was up. In her favor, I have to say that she came to us with an asset. I can take her metal detecting and she stays with me off the leash and comes when called. We never trained her for that. It seems innate. BTW, she, too, barks at cars (while in the house) and hates motorcylcles. Such funny dogs and very faithful.
My 3 year old grand-son totally dislikes being herded by Kia. He thinks she's trying to bite him.
I try to explain what she is doing but he's certainly too young to understand. We try to get her to stop but usually with little to no success.
She is a wonderful furkid and I am eventually going to have to bring her somewhere to learn how to stop this behavior money, money, money.... Kia will settle down when the grand-kids do but it's so funny when they are napping and Kia wants to play she'll go wake them with kisses.