We teach the dog to love their elevated mat (Kuramda bed) by rewarding them for staying on it (they can sit, or lie down, or stand, but they must stay on the mat). This technique is great for when visitors come over or when we are eating. What do we use when we travel with a service dog? Solution: a folded up towel or blanket.
Here you you can see Palmer, who was getting over-aroused (excited), so we asked her to stay on this folded-up blanket. 5 minutes later, she was gratefully sleeping.