I rough house the hell outta my dogs and they are very gentle. They have to be taught when play time is over and when it is ok. One good thing you can do is to teach them to sit when waiting for attention, food, whatever it may be. Never let them jump on you. Teaching them it is ok to jump leaves and open door for exited jumping which can cause issues.
A well trained and well behaved dog will be gentle. Time, dedication and proper training and reinforcement is the key to a well rounded dog.
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