Wyatt Does Not Understand Heel Position

Even though we can heel pretty well, I realized that Wyatt does not understand heel position. If he did, he could be out of position (forward, back, too close, or too far) and be able to get back into heel position. All he do now is too come up to heel position and sit if he is behind me. I need to teach the 4 power steering commands: come up, come back, move in, and move out.