How to put a rock solid handle on a dog?

The way I do my catchdog is I start them on a rope and just reel them in a few times, that progresses to a jerk and a pause, that progresses to a somersault, then shock collar, starting them on the rope and adding the shock collar just debolts them for further use with the shock collar after the rope process, that way you don't run one off when you shock them. All I am doing is crudely teaching them that come here is not optional, I'm sure it lacks the finesse of the true obedience training.. The loading I just do OJT as we go along, same with teaching them "somewhat" to get behind but it is not a solid heel, just so long as they don't try to wander off, or get in my way when we're riding. Same with my baydogs. I don't go as far a Cajun describes for loading, heel, and sit but I can see there would be benefit to that.