How do you train your dog to stay close and walk off leash? I daydream about taking a dog to dog beaches/dog parks and letting them run but still listening to me telling them to come back.

And what are your most useful tips to make sure they will be friendly with other dogs?

Someone I knew has a dog that runs around the block and comes back by themselves, and will not listen to the owner calling them back. I do not want that.

I've been to a country where I saw no dogs on leashes. Some dogs following owners lazily and slowly riding their motorcycles when the human didn't feel like walking, but had to walk their dogs anyways. I want whatever assertive and respectful communication these owners and dogs have.