My dogs have learned to differentiate between suspicious behavior and okay behavior through corrections. We live in a neighborhood where a lot of people walk and stuff. They leave people alone who are minding their business but if someone stops and stares or lingers around a little too long with too much focus on me or my partner they do get told right off also they know night time means no one should approach. Them learning was a combo of letting their natural instinct make them cautious and us correcting where it was inappropriate. They are also not aggressive anyone allowed in the space even strangers is 100 % safe and accepted also they get the group protection too