I have the very same problem with my animals. I rarely have guests and I don't go out with them in large public area's.
So we started a training course for general socialization and so I felt I had more control over them when they do meet new people or things.
One thing that has helped sooo extremely much is learning how to use a choke chain CORRECTLY. We also bought a new chain, one that does not sag down on their neck/shoulders.
I hope that might help you when you are out more. Just helped me so much with my male, he pulled really hard. Now he walks/heals like a pro.
Donatien "Dante" Alphonse 10-17-10
Asher "Asher-rat" Lane 2-13-12