How do I calm train my German Shepherd better?

He is 2 1/2, and a wonderful dog around our family. He listens very well inside the house. But whenever company comes over, he has to be put in another room with the door closed, or put outside on a line bc she jumps up on everyone, and barks, and is just way too excited. We did puppy training with him, reinforcing good behavior with food, etc, but when company comes, he just doesn't care, he can't help himself. Also, if/when he ever gets a chance, if the door is slightly open, he takes off, and does NOT listen well outside at all. He has been captured by animal control 3 times now, but if he's not caught, he does always come home. He doesn't do well on a collar either, he pulls, and he's a big dog, so he's very difficult to walk. Clicking, distracting, rewarding good behavior has done nothing for him. The worst part is, he's SUCH a friendly dog, but is very intimidating to people that don't know him. My grandmother who is 67 yrs old lives next door, and is absolutely terrified of him, and I want more than anything for him to start behaving, and to show her he's actually a wonderful dog. I run a daycare at home, and he loves the kids, he leaves them alone.. Can anyone help me?