My trainer always stresses that "COME" should be for something positive. Never, ever negative. When it is time to crate, I use "crate", if it is time for the dogs to go to the family room where they are separated from the rest of the house with a barrier, it is "pen". For baths, meds, brushing, nails, etc. I just go and pick up the dogs without saying anything. "Crate" ALWAYS comes with treats. "Come" from the backyard is treated sometimes and sometimes not. If the dogs respond to "come" when they are barking at the neighbor's dog, it always comes with jackpot treats.
Another thing people do wrong, is to spank their dogs when they catch them after door dashing. That sends the message...don't get caught.
J. and pups, Gem, Monty, Harley and Sapphire