For some reason people think of their dogs like children. They think its ok for them to yell and scream and run around and when anybody complains they say "that's just what kids do." They think its up to everyone else to put up with their behavior because that's what kids do, and that's what dogs do. You sound like you just want to let your dog be a dog and everyone else can just put up with it because that's what dogs do. I hike with my dog all the time, but its my dog and my problem and its on a leash at all times.