Oh my, our sweet little Peekapoo ran out the front door 4 months ago and was hit and killed by a car who never even stopped! Since then I have been so afraid that might happen to my Yorkie. I think even if they know commands, when they are in that kind of excitement like "look at me, I'm outside!!!" they still might not come. So I went to Home Depot, found 2 36"x15" white shelves and put one in the track of the sliding glass door in the back and attached one to the outside frame of the front door. This way there is absolutely NO moment when there is a path for them to get out since you have to step over it to exit. With a gate you still have that very small window of opportunity when they can dart through your legs. At least this will stop them for that second even if you know they "could" jump over it if they wanted to, it stops them long enough for you to grab them. I don't mind stepping over something every time if I know it might save my Twinkies life
Hope this helps.....