How Do I Stop My Dog From Kicking?

Just watch him very carefully when he's on the bed. Most puppies will hesitate before jumping off a bed, but some will just take a dive.

Definitely work on some kind of "Stop that" command that redirects the dog's attention back to you and stops them from doing what they're doing. From my puppy I use an "eh-eh-eh" noise; she stops what she's doing and looks at me. My older dog (who is very smart) knows the command "Careful" from when she was learning about our invisible fence as well as the "eh-eh-eh" noise. Both also respond to "No", although I tend to use noise less frequently than "no" because that's a word that comes up so often in normal conversation.

Examples of when I would do this: they want to jump off the bed and I know it is too far- I say command/make noise- they stop preparing to jump off the bed, I ask for them to "drop it" when we're playing tug and they do not respond- I say "eheheh" and they drop it- often will also sit and make eye contact if they aren't too amped up from play, they are going after food- I say "leave it" and they don't listen- I say "eheheh" and they (really only the younger one, the older on is too food motivated) will stop.

Can't edit the above post but something I forgot:

An important note with the word "no"- don't use it as a catch-all command. It can be good to redirect attention and stop something momentarily but don't say "NO" and mean "stop doing X", and then you expect that dog will not do X anymore. For example: barking, begging, digging, chewing, biting- all should have a different command to cease the behavior, and it's best not to pair "No X" for every command as dogs generalize well and "No Beg" and "No Dig" sound similar. For example, I say "quiet" to mean stop barking, "enough" to say stop begging, and "no bite" to stop play biting when my dogs are puppies.

Also, for the kicking, just give him time- small dogs will often struggle when you pick them up before they eventually realize that you're not going to drop them. My current Boston was like this, but quickly learned sometimes we pick her up to move her from point A to point B and knows if we call her over now and pat our hip we want her to stand at our ankle facing the same way as us so we can scoop her up. Praising and treating for staying still also never hurts.