If you want a well-trained dog or puppy that will obey your commands the first time you give them, it is very important to use positive motivation to condition your dog's mind that your commands are good and associate your commands with pleasant results.  This is especially important if you want an off-leash obedient dog.  If you use harsh corrective methods, you will have a dog that will obey out of fear and compulsion, and if your dog feels he/she can get away from you or ignore you, they will.  By the use of positive motivation, you will create a strong loving bond between you and your dog and will have a dog that will want to please you.  There may be times during the training process that your dog is distracted when you give a command and does not respond.  If that happens, only say the command once and then gently make it happen to ensure your dog understands that you will not let them ignore you.  Over time, you will have a reliably obedient dog that is happy to obey your commands.