The wasps move around searching for water and waspy stuff. If you want to remove a nest, you do it in the late afternoon (before dark) as most of the members will be returning to the nest.
Wasps are nasty critters. They have no sense of humor. There are even wasps that actually build nests in the ground. They don't care much for uninvited guests.
The best weapon I've found are those over sized, battery powered fly swatters. We can get them at feed stores and most hardware stores. As you see them flying around you can reach out (they extend) and zap them. Or you can use the tennis approach, which doesn't kill them. I've found this approach less helpful because it just pisses off the wasp, unless you have a great arm and send them flying a longer distance.
As long as the batteries are fresh, it's quick and efficient. They don't stay energized, only when you push the button.
If one does end up on your pup, you can easily use the swatter to remove it - and then energize it once the wasp is off your dog.
They are cheap, like $10.00 each, so I have them everywhere. When I'm out with the dogs and I've got my camera, I can slip it into the back of my pants (handle in). Not real comfy, but it frees up my hands to take pictures and allows quick access in the event we are attacked.
Hondo Von Dopplet L Bauernhof "Hondo"- GSD
Lilie's Tug McGraw "Tug" - Golden Retriever
Maggie - Mini Dachshund (Rescue)
Lonestar Pivo - Texas Blue Lacy
Ashe - Barn Cat
Katie / APHA