Taking your dog to a basic obedience class can help you dog learn commands and some basic manners.
In the meantime, a few options:
If your dog jumps when someone comes in the door, pay them no attention at all. As people come in, they can drop treats on the ground. This encourages feet on the floor and not on people.
For counter surfing, make sure to keep items safe and back off the edge of the counter. Every time your dog jumps and gets something, even attention, it reinforces bad behavior. When you are cooking or do a lot in the kitchen, it could be beneficial to give your dog a special, interactive toy that distracts them from the counter where you are. If this does not work, crating or penning them away might be a great option.