Your dog is always listening, it most likely your communication and patience that is the issue. Dogs like single syllable words, maybe two syllables, but no more if you don’t want to create confusion.
Give a command and wait. Reward when the do it right, and obviously do not reward or praise if they do not do it correctly.
Give a command and wait. Reward when the do it right, and obviously do not reward or praise if they do not do it correctly.