When Joey was a puppy he was in a playpen unless I could watch him. Watching him didn't mean I would watch TV, and keep an eye on him. I was training him while I watched him. If he got a hold of something I said, "No" in a firm voice, as a command not a suggestion. He would chew on various things, and I told him "No", and also treated them with Bitter Apple, so next time it wouldn't seem as pleasant. Your dog shouldn't have full access to the house until he has proved successful in one room that means no peeing in that room other than pee pads, if you are using them. Gradually you take them to other rooms, again watching them. Anything that is on the floor Joey can play with, and we have a large area in the family room with toys on a blanket that he can use, and a couple of baskets he can get into. However the coffee table and side tables are paws off, and even if cream cheese is on the coffee table, he will not touch it, (at least when I'm around
). As far as him getting on counters, you really have to teach this is a no no. I mean this could mean saving your dog's life.
If your dog has great energy, you can play fetch with him to wear him out, and this will also help him to obey. He needs to learn that you are the boss, and you can help reinforce this by making him sit and stay before you give him his food, don't allow him to have the food, until you have given some sort of release command. This will help teach him that you are the boss, and he must obey you. It sounds like he's challenging your authority. If he's just picking things off the floor that's harder to stop, anything on the floor they usually think is theirs, so keep things picked up, I know this is hard if you have kids, but they should learn to do this anyway. Consistency is the most important part; if you let them get away with poor behavior one time, you have really reinforced the poor behavior, and they will learn to break the rules.
Just want to add, I think one of the biggest mistakes people make when training is to say too much. Like, "No, get off the table, you mustn't get on the table, you naughty boy, now you behave." This is just a bunch of gibberish to a dog. Pick one word, like no or uh-uh, and use it everything there is poor behavior, say it in a stern voice, without yelling, but loud enough so that they know you mean business.