Have you tried possibly enticing Chico with a treat to get him to stop his excitement? Puppies really do have a lot of curiousity and excitement when going out, since everything is new to them, perhaps go to an open playfield without many people around, and train him to walk well on a leash without people around. That may have an effect on Chico, and then later when you do walk in with other people around, he may calm down a bit. But I'd try the treat thing first, if he can sit or stay when he sees someone, just give him a small treat. Hope it helps you a bit! And welcome to YorkieTalk!
