This is what I have done that has worked for me. I have tought my two to come to me when I say (let me pick you up). This way no matter what Im doing they come running. I started out by saying let me pick you up with treats and only gave the treat whenI had picked them up. I made a game out of it and done it all day for no reason at all. The other part is to do it ahead of time never at the same time. If you are going to be leaving at 7:00 everyday start by doing it 20 min before you leave or 10 just whatever that way they get use to you being there in there bed and it makes it easy for them when you leave. I hope you are understanding this.
This has helped in all kinds of ways. I use it if we are walking and I need to pick them up fast. Ill even tell them to hurry and they will run over to me. I need to get it on video.