Thor is the same way. He tries to sneak up behind other dogs to sniff their butts, and then he summersaults backwards when they turn around. I'm trying to introduce him to a lot of other dogs, and I also take him to doggy daycare once a week. He gets noticibly better every time he comes back from daycare.
FYI, the daycare I take him to has a trainer on staff, which I think is important.
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