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In addition to what the other's have mentioned, when your let your pup outside to go to the bathroom, when it actually happens, put a NAME to the BEHAVIOR: when he goes pee say, "Good boy, you go POTTY, Good boy, you go POTTY."
If you are really consistent with saying this everytime he pees, he will eventually understand that what he is doing is called POTTY. We did this with both of our girls, and they will pee and poop on command (if they actually have to go). When they bark to go outside or if we want them to go pee before we leave the house, we will let them out and give them the command, "Go POTTY," and they go because they understand what we are telling them to do. This is a really useful tool and it doesn't take long for them make an association between the NAME of the desired BEHAVIOR (action).
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