Hmm maybe some people with additional training skills can weigh in but I think it's more realistic to allow your dogs to bark a couple of times when someone is at the door - but not incessantly.
They are hardwired to protect you by barking just as you are hardwired to fight or flee when something scares you. Changing something that is hardwired in dogs (or people) is very difficult.
Just try to get a terrier to stop digging for example.
If I were you I'd work on getting them to bark just a couple of times but to be quiet when you tell them to. Just my opinion tho.