Definitely diligent picking up right away is the best way. Also teach the dogs the "leave it" command.
When your dog goes after the poop always give the "leave it" command don't tell them "No"
Many many years ago my family had a dog that would "clean up" her own poop. She would try to eat it right away & had associated being told "No" when she would eat it meant she wasn't supposed to poop in the yard & she thought she was cleaning up. She never attempt to eat hers or any other poop out on a walk. Once we realized that she was told to "leave it" & didn't eat poop after that.
Avoid biting when a simple growl will do
The Spirit Lives As Long As Someone Who Lives Remembers You - Navaho Saying
Vindication ~ For all those pets who became sick or lost their lives from tainted pet food