If I had an easy answer to that one I'd be over the moon! My main source of stress 
Mine are 8 and 5. The older one does understand cause and effect, and doesn't want anything to jeopardize the dog - so although she'll forget and start playing too wildly sometimes, she just needs reminding. The 5 year old is a different kettle of fish - she's rarely wild with the dog, but follows him around, puts on squeaky voices, generally winds him up till he jumps up to lick her face (he's 8 months old, lab cross, usually scratches her face in the process) then cries. Infuriating.
They are NEVER unsupervised - unless you count me being in the other room for 2 mins, where I can still hear them. I crate the dog if he gets too manic, with a treat. I crate the dog if the kids are too manic, for his own peace, with a treat.
I have told the dds that I shall crate them (in the front room, which the dog doens't go in unsupervised) if they get too wild with the dog or each other.
The only time I focus on the dog's behaviour is when he growls at dd2, if she comes too near him when he has a chew/treat. He only does it to her, probably because she's the littlest and most puppy-like. Those times dd2 knows to go away (and she does), and I do a bit of training taking the treat away and giving it back, sometimes with dd2 by my side.
Actually, dog is remarkably well behaved considering the dds-end-of-term-exhausted-monster-state. I am the one who ends up snapping and snarling most of the time 