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I'm sorry but I agree with Marko, you NEED a trainer. Did you ever go to training classes when he was a pup? Puppy classes usually are not enough. You said it yourself, you don't know how to train him, go to someone who does.
The only things I can see from your post is the growling when someone walks by the sofa. Is Hubert up on the sofa? I would not allow a dog with such behaviour on it, or the bed, or any chair.
And the growling when you pick him up. Many, if not most, dogs do not enjoy being picked up. Don't pick him up. Another side of him growling when you pick him up is it might cause him pain somewhere. When was he last Vetted and did you mention any of these things to your Vet?
Good luck.
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