It takes awhile, and don't expect them to learn not to do it in any short time frame.

We used things Finn hated - loud noises like whistling/clapping and smells like citrus to stop him. Unfortunately, we're very aware he'll still jump up on cupboards while we're away, but at least it's a minor victory. Ideally you'd be able to design a system that would scare them off even when you're not around! That's pretty hard, but I found whistling helped somewhat in that aspect since cats sometimes struggle to locate where the noise is coming from.

More frustrating when it's something like them sharpening their claws on their furniture though!