There’s only one way to approach old friends who are human – flat out. Don’t worry about stopping, when you hit them with your front paws, that’ll do it OK and they don’t mind. In fact most of mine love it, they like feeling important and of course having a dog treat them like that is special for any human. Should be worth a treat too, so sit after you’ve greeted them!
Obviously this doesn’t apply if you know you’ll get the treats from jumping up – go ahead, they like it really!