Set them up to fail!! I have a couple of suggestions for you that some of the trainers I've worked with use:
Take a cardboard tray (like the ones cat food comes in) and fill it wth empty soda cans. Tie a string to the tray and set the tray up on the counter. Now put a piece of bologna or such slightly hanging off the edge of the counter. As the pup starts to go for it, you pull the string, thus making a huge crashing sound and scaring the poop out of the dog. After a couple of set ups the dog usually gets it. But the thing is, you have to set off the "booby-trap" before the dogs gets the goody.
Stack up metal dogs bowls, pots and pans, etc, around the corner of the kitchen door. Again, set up your dog to fail but putting something yummy on the counter. As the dog goes up to get the food knock the tower of metal over, towards the kitchen, again scaring the dog.
Take a flat piece of cardboard and put it on the counter, overlapping about an inch. Put a piece of food on the cardboard. When the dog jumps up and puts his paws on the cardboard to get the food, the cardboard will then flip over, again scaring him (the bigger the piece of cardboard the better).
All of these methods, of course, are dependent upon the fact that you own a normal dog who has a normal level of fear involved. Unfortunately with both of my dogs you give them something startling and instead of running away they go to investigate . . . which makes all 3 of these training solutions useless for me. So hopefully you have normal dogs!!
"All changes, even the most longed for, have their melancholy; for what we leave behind us is a part of ourselves; we must die to one life before we can enter another." -Anatole France