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Our dog was exactly the same! He housetrained beautifully and right away, learned all the commands, but still nibbled for months. What we did was whenever he bit, we immediately stopped playing/petting/praising/whatever and sat very still and said "No!" and pushed him off our laps/couch/whatever and told him to go to bed. It took about six months for him to get it with us, and up to a year for him to be good with strangers who came over. He's two now, and I haven't seen him nibble or nip in months and months.
Does your dog seem to be doing it out of playfulness? With ours, he was clearly just wildly in love with everyone and need to nibble on them to prove it. He only growls when we're playing with him-- tug of war, etc. Is the growling he does when you tell him "no" aggressive, or is he playing?
If it's the latter, just buckle up and it WILL get better. All signs point to you having a really well-behaved dog. If it's the former, or your concerned for the safety of your kids, etc, then definitely talk to a behavioralist.
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