Peeing on carpet, knocking you down, or stealing dinner off counter are all signs that your dog doesn't respect your rules. In other words, you are not Alpha Dog.
If you ever want to have a peaceful and happy relationship with your dog, you need to learn how to become top dog.
It's not just a silly phrase. Dogs have a heirarchial ranking system. In simple reality, only two ranks you need to know of are top dog , and not top dog.... The Ruler, and Rule Follower. Naturally you don't want to be caught in trap of being subject to your dog.
You want your dog to respect you and obey you. Don't confuse two. A dog may obey you out of fear, but not respect you. That is a dangerous situation to be in. Have you ever seen movie Iron Will? If not, watch it. It gives some great insight.
There's a dog sled driver who beats his dogs into submission and treats them terribly. They respond to his beatings and he has a winning team, but at first sign of weakness, they turn on him and... well it wasn't pretty.
Of course that's a dramatization and worse case scenario. Frankly, I think anyone who beats dogs has it coming. It's just not necessary to rule with an iron fist.
Most dogs are receptive to attitudes that are as basic and primal as fighting, but are much less violent.
For example, simply giving commands and being consistent goes a long way. If your dog is always made aware of what is and what is not acceptable, you will have a greater chance of success.
When your dog disobeys, scold him and send him to his quarters- whether it be a dog bed, a kennel, going outside or just a specific place in house.