“Help your dog CHOOSE to be good!” is how Dog Scouts of America starts their article on training. It is a philosophy and training method that I also use and it works really well. The reason I am sharing this is because the author has written the article really well and I am a firm believer of not always rewriting something if someone else has said it well.
Essentially what they are saying is that by encouraging our dogs to choose behaviors that have consequences they enjoy, a game of tug, fetch or cookies, actually teaches our dogs to try different behaviors to see which ones achieve the desired result of a reward on their own.
The article is really well done and I think you will enjoy it. Read it here.