Couver and Khloe are two of the most socialized dogs I know
They go with us literally everywhere we go except for work. They love to ride in their Kwigy Bo and go to stores like Lowes, Home Depot, Ace, Bath and Body Works, the mall, outlet malls... Everywhere.
We also take them to the dog park about 4 times a week and they LOVE it. They love seeing other dogs, and get so excited when we drive to the dog park. They start bouncing around and yelping with excitement when we get within 5 miles of the park.
We also take them on walks and they go with us whenever we go on vacation. They spend the night with us in hotels, family members houses and adapt really well to new situations.
There are a ton of ways you can socialize your dogs, and a social dog is more than a dog that deals well with other dogs... You need to expose them to people, different places and experiences. Good luck!