That lack of training (in my opinion) has contributed to the dog thinking he is on equal or higher status than us in some situations...ie. dominance..
This would be bad logic on your part.
Your lack of training has contributed to your dog's unacceptable behaviour because he doesn't know any different. It's not a deliberate thinking on his part about "status" or "dominance". He just takes what he can get. Think "Opportunist". All dogs and children and teenagers are "opportunists". If you let them, they will take the opportunity. And if you never set limits - they have no idea it's unacceptabe or what you want them to do instead.
Most dogs are very keen to please their owners. It's up to you to let them know what they need to do to make you happy.
If they're doing stuff that makes you unhappy - you only have yourself to blame - not the dog's opportunistic nature.