Let me see if I can word this correctly Rene is let of his cage every morning when I wake up, some mornings he swings out with the door others he is content to sit and wait for his breakfast. The majority of days he is able to sit in/on his cage and play stands through out my house, this changes when I have things to do for the day, I do not let him decide when it is time for me to leave, even though I have adjusted my schedule to allow for putting him back in his cage I just go over and ask him to to "step up" then I place him inside his cage, I explain to him what I am doing where I am going etc and how long I will be away I know he understands, when I tell him I am going to the store and will be back in awhile he goes and gets something to eat and just relaxes, but if I tell him company is coming he immediatly goes to one of his bells and rings it which is what he does when company is here so that we can't enjoy a conversation LoL. Sometimes he isn't so willing (he will lean away from the cage) and I have to slow down back away from the cage and wait for him to relax, the point of this is caging should never be a bad thing there are plenty of times when he needs to go in (repair man at the house, guests etc) 9 out of 10 times there is not an issue. I also give him an almond or something to reward him when he goes in. I also wouldn't say that he "walks all over me" but he being a Grey he gets A little more reassurance and understanding when it comes to everything in his day to day life. Bazil my quaker is treated differently, he is very cage aggressive so when it is his time to come out I have no choice but to let him decide, (to save my fingers) but once away from the cage and placed on a play stand he is content to be picked up whenever and put back. Bazil doesn't have the emotional response like Rene has when something happens Bazil just shrugs it off and moves on, Rene looks as though he is pondering what just happened and either re-creates it or trys to fix it. Like just today Rene broke my earing, he picked it up off of my lap and brought it back to my ear. Bazil would of watched it fall and then moved on to the next thing to destroy.
No one ever taught Rene to go in or out of his cage on command it is just simply how it is.
Dan is correct about being tought to step up, that is worked on daily, with games etc.