As a dog trainer, for may years, I have seen this problem far to often with small dogs. It’s sad to see, knowing that this behavior goes against their nature, of a mentally stable k-9.
As a well balanced dog, they have so much more potential, plus it makes your bond so much stronger & deeper.
As with your kids, please raise your dog to be the best that he can be also, well balanced & mentally stable. Good behaviors in society, makes dogs that people enjoy being around.