Okay, ummm dogs aren't people. Your dog was getting pushy and not listening, nothing wrong at all with pulling your dog off the couch. Ignore HIM, you are making it worse by looking at him with concern. Be confident, let him sulk, he knows you are serious. I don't understand being worried about it. Eli is a very, very pushy dog who is also sensitive. I find consistancy works better than anything. For example if he wants on the couch when I'm there I must invite him. If I don't want him on the couch and he is sitting in front of me staring I'll tell him to go to his place which is his dog bed by the couch. It took over a year of consistant putting him back on his bed but he eventually got it, when I say place, he goes to place. I had to teach him first of course with treats etc. Eli can be the most stubborn dog I've ever had so training him to listen has been a real trip. He is very good now but when he was 1 1/2 I was often in despair. Eli at this point always gives that very sad dejected, tail down look when I make him do something he doesn't want to do, like hey, get off the couch. LOL.
I guess what I am trying to say is basically if the dog doesn't listen, don't feel badly that you had to be more proactive. You didn't hit him, you just pulled him off the couch. Goodness, not really a big deal. He sure has your number. LOL LOL LOL. I am editing to add there are times Eli needs to know I mean business and if he is a bit threatened so be it. I think he and I are extremely bonded at this point, he is the best but if I say wait he better wait.