Jujube almost always stays close to us (like a real dog, not like our cat Loki). It's also relatively easy to get her to come to us. She's stays so close and comes so readily that I almost thought she might be a good off-leash candidate. (No, I was wrong. She has darted out of the door a couple times and made it down the street, paying no attention to our calls. By the way, this is another good way to get to know your neighbors.)
In contrast, Loki does not "come". It might have been the first command we taught him, but he sure acts like its not part of his vocabulary.
My new tactic of getting Loki to come is to command Jujube (who is always near) to sit. So far, this has been the most reliable way to get Loki to come -- I'm getting a 100% response rate! As soon as he hears me say, "Juju, sit," Loki perks up and immediately comes to us, sometimes huffing & puffing. If she gets praise, then Loki wants praise too. If she gets a treat, then Loki really, really wants a treat too. Without her presence, praise and treats might not get Loki to come. But with her presence, that same praise & same treat is just ten times more desirable.