Call it what you want but your everday dog owner calls it a heel command. One of mine is from working stock but doesnlt work so he doesn't understand the stop/heel command so I have to tell him. My farmer friends are a bit different. Some will only have to tell once and they will follow them all day no more than a foot away where as some don't say anything after "That'll do!", the dog just does it until gets back to the yard and then it take some time fo ritself but they all have at one point been taught to stay close and not leave the farmers side.

Mike the organic milk farmer I know has a dog that just wanders around behind him without a care in the world (takes after Mike) but as soon as Mike says anything that dog is like a primed missle "WHAT?". Its like Jekyll and Hide. Superb dog. He fetches cows so casually and peacefully it sets the scene for the whole farm "Morning. Once you've finished that mouthful of grass you'll be going in for milking if that's ok with you? No, no, take your time, I am not rushing you. Been up to much recently have you?" Just a joy to see such gentleness and a credit Mike and his stockmanship and husbandry. Top bloke.

Sorry OP I drifted off to the fields of Cumbria there for a mo.