I kicked my puppy 5 times today....
I kicked my puppy 5 times today because he is often sat absolutely right beside my feet, wherever I am, whatever I am doing, but sort of stealthily gets there, so I turn around to reach something in the kitchen and trip over him or kick him
He never seems to mind..
I don't mind either, Ddog1 is DH's dog, despite being with me the vast majority of the time, he adores DH, Ddog2 is mine.
Same as littlewhitebag really, as he gets older, perhaps practise just popping out the room and coming straight back, then wait a tiny bit longer etc, so he knows you always come back. Crate training can work wonders too, neither of mine have ever been massively crate loving, but I still feed the puppy in there, give him kongs in there, chuck treats in and use the crate at night or if I am out.