I suggest finding a good trainer that specializes in behavior modification ... similar to what Cesar Millan does. Not just an ordinary dog obedience (and especially not the ones offered at pet stores). If the dogs do not react the same to people when away from your home, you might need a trainer willing to come to your home. Research the trainers credentials first. Below is a link of how to look for the right trainer.
https://www.aspca.org/pet-care/virtu...fessional-help
Hope this helps your dogs enjoy the whole family!