We have taught our dogs a the "wait" command, which is useful at the door(s), whether you're coming or going. Essentially, when I say "wait", it means "stop where you are and don't move until I tell you to (release you)". I guess it's similar to a sit/stay, but I don't necessarily care what position the dog is in, I just need them to stop. I also use this command on (off leash) walks when I need the dog to stop, usually so I can catch up!! Or, if they're about to go around a corner where I can't see them and I want to know what's ahead before they do.
We start training to this command on (leashed) walks - I will stop and say "wait" when the dog stops moving or gets to the end of the leash. Eventually, I can say "wait" and the dog won't have to wait to get to the end of the leash - he'll know to stop in motion. Once that's mastered, I move it into the house (still leashed when training on this command (and go through the same process as I approach a door/threshold, etc. Eventaully, you can take the leash off and be in motion as you tell the dog to "wait" while you continue to the door.
We've also trained our dogs to "back up", so if they get too close to ______, we can direct them to step back to give us room to do what ever (this works for me when I'm going into the pantry for a treat and Beau wants to "help"). Basically, once the dog is in a "wait" mode, I will turn my body to face the dog and start walking twd them, saying "back up" while I'm doing it. The dog will naturally start to move backwards a few steps - as they do, you praise their movement.
Kona-GSD (Always in our hearts...miss you)
"In dog training, jerk is a noun, not a verb."