How can I get my dog to stop laying on the non-dog furniture?

I have explained to her that I don’t want her on the sofa or the armchair in the living room (she has a bed there); I know she understands that much because she always jumps off when she hears me coming and does the mopey “don’t be mad at me” routine.
But I would like for her to stay off of the furniture entirely, not just when she thinks someone will notice.