Most of the time I lift her off. She does do as I tell her a lot of the time.
Unfortunately that will never fully work.
You absolutely need to be 100% consistent.
If you don't want her on the sofa or table, she must never, ever get away with being up there, never. You need to keep her out of that room or put chairs on the sofa or something so that she doesn't hop up when you're not looking. If you see her going to scramble up, you must swoop in instantly and whisk her away/ tell her OFF or whatever, and then I'd suggest immediately telling her to do something else completely and rewarding her for that, so that the game is not "jump on the sofa and then get treats for getting off it".
Obviously everyone in the house needs to be equally consistent and she must not ever be invited up.
The strongest reinforcer of a behaviour is intermittent reward.
Generally, it is difficult to have a "dog sofa," as once an animal is permitted on some furniture it will tend to regard everything at that level as fair game unless rigorously enforced. So it's by far easiest to ban all furniture-ascending. This is also useful if you are bringing your dog to visit other people's houses where they may not appreciate her on their furniture (and obviously allows you to easily keep things out of her reach).
It's also important that your dog never feels she can ignore you. If you tell her to do something you must say it once and only once, and only when you are in a position to ensure that she does what she's told. Otherwise she just learns that she needn't really bother if it doesn't please her.