Welcome to the forum GSDUDE!
New term most of us like to use is we want to be a 'leader' to our dogs rather than a 'master'. Kind of more of a partnership with us leading the way to guide our pups thru life.
Being consistant, clear, patient. TEACHING our pups rather than correcting and punishing them.
Finding great dog classes before we even get a pup so we can have help with learning to manage and guide our dogs. Truth is, raising a dog properly starts with teaching the human. Once we learn our Leadership role then the pup has it easier in a happy world they will follow us thru.