A word can have any meaning you want it to. I think it may be confusing to use "up" to mean 2 different behaviors. I like the command to have a clear meaning to it, so that when I say a word, he can associate it with a certain behavior.
Lyssa62 uses place. Good word!
I taught my dog to target with his feet and use the word "touch". So, wherever I put his touchpad and say "touch"' I expect him to go to the target and touch it with his feet.