I've had pretty good success with a knee to their chest or abdomen as they jump, accompanied by a firm 'no' or 'no jump.' I hasten to add that the purpose of the knee is not to strike them or hurt them, just to push them off balance. It's just enough to let them know that you don't like this behavior. I suspect that this wouldn't work for small dogs, though!
And of course, there may be times when they just get too excited and forget. Really bombproof training takes an awful lot of time, effort, and consistency! I usually settle for 'pretty good.'