My dog is 2, he is well behaved when it’s just me and my roommate. When people come over he jumps up to say hello and likes to grab things of theirs (Ie masks, hats, shoes, etc). Any guidance on how to fix this?

Does he know a place command? Like a spot you can place him on with the understanding he can’t leave until you free/release him? I would suggest practice letting visitors in with him on a leash, and then taking him to his place, and making him stay there until he calms down. It’ll take practice and he’ll try to push the boundaries I’m sure, but if you keep at it I think he’ll calm down enough prior to being released and will eventually learn. Just my best guess from what I’ve learned along the way and have heard.

Second the “place” command. Get a simple elevated bed and practice putting him there. If he gets up, correct but walking him back there.

We have the same issue, and NOTHING is more frustrating than when people say “I don’t mind!” and encourage him to jump on them. Then I just look crazy trying to wrangle him

All of the above, plus start working on training. If you have a friend or family member that you can practice this with, that would be great. Have them come in abs fully ignore him until he’s well behaved or in his place. Additionally, I found what was really helpful for my dog was giving her a long filled with peanut butter (her favorite treat) in her place right when someone got there. She got it for going to her bed, which she knows the command for. It also tended to dull her over excited response to people coming in (specifically my mom and dad, her two favorite people). She was more interested in the peanut butter and by the time she was done and able to say hi, she was more mellow because they were already in the house for a bit. But consistency is key. When you have people over, make sure they don’t run to give your pup cuddles and have them full on ignore him. Additionally, if you need to have some sort of partition you can (but that could backfire with an over excited pup). And practice practice practice. Also how is your pup meeting people outside? Because I will take my dog and sit on a bench near a park and reward her for being calm and chilling while people pass by. It helps with working on settling.

Similar to other comments - the dog should be totally calm before being allowed to interact with visitors. Depending on your setup, maybe you can gate him or her off in a section of the house. No one can say hi or even look at or acknowledge the dog until it is calm. Once the dog is calm a visitor can rewarding him with a quick “hi”, maybe a pet over the gate. If it goes well the interaction can continue, if the dog gets worked up the visitor walks away and ignores it. Work your way up to making sure the dog is totally calm before coming out do the confined area, and the second it jumps put it back. The first few (or several) times will be chaotic and annoying (and maybe the dog won’t get calm enough those first few times to be allowed out to interact with everyone), but like all other training you put in the work and it pays off.

I would also tell your friends when they enter to ignore him and not act excited

Also give yourself some grace during any training you try to do. Training a dog is hard.