Psychology No 3
Your dog will pull on the lead as it wants to be the lead in your pack. In the wild this is acceptable. Think about dog sled teams, in which the musher wants the dogs to pull and encourages the dogs natural instincts. You are part of your dog's pack and it wants to impress you with it's ability to hunt. (It is after all a wolf in sheepdogs clothing). You will never take this instinct away from the dog – you will damage the dog emotionally if you try.
You are only commanding it to wait so that it can work for your pack. You are the Alpha Male/Female and will never give this place to the dog. This position is earned by the dog who provides the food and shelter, so the dog already accepts that.
So, the dog is allowed to be a dog, provided it is safe to do so.