All my dogs were large dogs except one so I always trained them to go on command. As pups if they showed signs of wanting to pee somewhere other than their own yard then I would just move them along with a firm NO.... I know some people hate it if you let your dog pee on their lawn so I found it easier to train mine not to do it. Dog pee will turn grass brown and kill it after a few times the dog pees on it.
When we went for a walk I always made them go in their yard before leaving.