I have two, they have the run of the flat (and before anyone starts it's first floor, I have my own entrance and a garden and it's not tiny, a very large property split into two effectively) and they sleep on my bed.
But I've put, and continue to put, time & effort in with training. Training is lifelong and ongoing and should be with any dog, you don't just teach them to sit as a puppy and that's it, and you adapt your training and management to the dog.
One is going deaf in her old age, so her previous great recall is unreliable now, because she can't always hear me, so she stays on a lead. The other is only let off in certain places because her recall is also unreliable at times.
They don't bother other people or dogs because they're my dogs and my responsibility. Because they're trained they know their boundaries and because I interact with them they don't get over stimulated by the sight of another dog or person and lose their minds when they see one. I work their brains, as well as exercise their bodies, we don't go for endless walks where they're left to their own devices while I daydream my way around, which results in a very fit - but bored dog.
Consequently they're not really interested in other dogs or people around because they're not a big deal to them. The issue I have is with one who has been bred to chase small furries, including cats. My choice to have that dog, my responsibility to manage it, which is why she's only off the lead in certain places.
As I know she'll bark at a cat with frustration, vet visits are sitting in the car until called if there are cats inside, because a) if you can't train out of a situation then you manage it and b) it does my head in as well!. I will likely never fully train that instinct out, however it is my responsibility to manage that and ensure she doesn't cause any problems, and a vets waiting room isn't the place to train that.
We are regularly approached by over excited, aggressive or dominant dogs, who don't understand or heed social cues from other dogs. They ignore them until they can't, they won't tolerate being pushed around or leapt on, no matter how 'friendly' the owner screeches they are being, most of the time they're not and the owner has zero clue what their own dogs body language means, wagging tail to them means happy playful dog and that's about as far as they go, when what is actually happening is an over stimulated dog not heeding subtle correction of it's behaviour, or an aggressive/dominant dog going in all guns blazing. Both can result in a fight. So I am now proactive and if the owner won't control their dog, then I'll stay between mine and theirs and I will give it directions to stay away.
That seems to really upset some people, especially men, but I don't care. Control your dog and stop expecting other people and other dogs to entertain it for you.