Mine are the same way the new parents... but within a week or so they get use to them and are totally ok with it.
I also find that there is way less barking if I have the door open before they even reach the porch. If they can see who is coming they are less prone to bark or carry on like idiots. Which is nice because they don't wake up my sleeping family members. Cant do this in the winter but as soon as spring comes, give it a try and see if that helps.
My little ones that I have coming home from school can just walk right in the door and you don't even hear a peep out of them. They hear that bus and are sitting there waiting for them to come through the door with tails a wagging.
Continue working with him.... and be Consistent!!
I would even suggest doing the routine (sit & stay) with your own kids, family members when they come home. Its the perfect time for training and its not as annoying because your family knows it bound to happen.