I basically agree with everything, but this. You have conditioned them, you may not have intended to or thoughtfully went about it, but you have.
But if I put a prong on a dog, gave a correction, and my dog totally freaked out and shut down, I probably wouldn't be using the prong (possibly not owning the dog, but that's another discussion). I guess I interpreted the OP's post as asking how to intentionally condition the dog and my answer is, I don't. I just put the prong on and use it assuming the prong is the right tool at that time. It's always paired with some release or reward and it's not like the dog is cowering and trying to get away from the prong. They see me touch one or hear it jingle and want to go out.