Tooold that made me
!
Hellbeasts wow, those are big dogs! What breed are they? How do you ensure absolute obedience first time, especially if you don't use food rewards?
Rumble as soon as I read 'her desperation to be touching me at all times' I thought 'must be a cocker'.
Ours wants to be in physical contact with you at all times; it's not enough to be near you, she must be actually touching you. I don't even get to pee alone.
When DP agreed to get a dog, he said 'two rules, then... I won't have a dog that pulls on the lead, and I won't have a dog on the bed'. Dog is appalling on the lead (she hardly gets walked on the lead) and she sleeps in the bed, usually on DP's pillow.
She also has him twisted around her little cocker paw, and extremely well trained; he does exactly what he's told, when he's told, directed by a sophisticated vocabulary of whines, growls and various tones of bark. 
Absolute rules:
No mithering anyone for human food. Ever. She's not allowed to look at me when I eat, although she's permitted to lie beside us on the sofa facing the other way. She sometimes sits expectantly as I'm finishing my dinner, but that's because she wants to jump on my lap as soon as I put my plate down, not because of the food.
No titbits/human food. A) because she gets pancreatitis and is violently intolerent of wheat and a variety of other things, and B) to discourage mithering for food. However DP feeds her titbits of meat when he's carving, so she hangs around his feet in the kitchen.
She knows if she does that to me she's liable to get accidentally trodden on or kicked, and definitely shouted at!
Must sit and wait when I open the boot/car door. She does this for me but still tries it on with DP. Really importatn for safety that she doesn't just leap out.
Other than that, she's spoilt rotten, really. We intended to crate train her, but on the first night (in the crate, beside the bed) she cried and cried, then growled, then angrier growling, then howling/barking, then an ominous pause... then the smell, oh the terrible, terrible smell!... then the realisation that she'd trodden the diarrhoea all over the crate and smeared herself liberally in it. So 1am saw DP hosing the crate down in the garden, and me shampooing the puppy, and then she was so wet and terrified and sad that of course she ended up in the bed with us.
She's been there ever since.
On the good side, her recall is very good (though not 100% if she's really 'in the zone', usually linked to anxiety, or if she's decided she's going to plunge into a filthy bog) and she never strays far on walks. She's the best trained dog if you've got livercake in your hand, but again her anxieties interfere with that when we're out.
What breed of dog are you getting, OP?