I do the same thing as Redyre. If my dog gets in the way, I just keep on walking. If the dog gets shoved by my legs, they then just learn that they shouldn't be standing in front of me when I walk. If they're underfoot while I'm cooking or doing something, and I back into them, they might get their toes stepped on. I go barefoot in the house or wear only socks, so I can't smash their little feet, but they definitely still don't like getting stepped on. They know now that when I give them a warning "move it, mister." that they better move quick if they want to avoid getting their toes stepped on.
Both of my dogs are small, and easy to trip over. One of them could be killed if someone fell on him, so I tend to be very firm when I'm teaching them to mind their distance. With a very large dog it's a bit different, I could just bump my big dogs out of the way and they got the hint. It's kind of hard to trip on a dog whose head is about level with the counters, too.
A very useful command is "get outta here" LOL. It's always been very easy for my dogs to understand - they just need to exit the room that they're in.