First off, I would NOT let my dog do that to you and they should not. Caly (our dog) hangs with us with company, but I am very aware of what she is doing and would be the first to correct her if she was in someone's space uninvited.
When I am at someone else's home, I can usually stop a dog from unwanted behavior that you describe with a simple 'hey' or 'no'. The dog usually understands and moves to the next target and no one is the wiser.
In the end I think you just have to convey what you did in your post to your new friends in the nicest way possible, i.e., "I really enjoy hanging with you.... I am a bit nervous around dogs or whatever gets the point across in the least confrontational way possible."
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