I don't respect owners that claim their pets are just "naughty"
This is Pimpek. He is 11 years old now, I have him since he was 3. Our friendship hasn't been easy. He was a stray, returned from adoption. He wasn't listening, he was escaping, I could not unleash him, aggressive to dogs and people. He was panicking at vet clinic as well.
And guess what?
We fixed it.
I'm able to take him anywhere. Absolutely anywhere. I often take him to classes, where he either layes calmly (and silently!) on his blanket or walks around the classroom (if teacher allows that). During breaks he plays with my colleagues and when time comes, he immediately turns off and is a good boy again.
Our way to university takes more than an hour, by tram and subway. He used to be afraid of the subway fatally, now he even falls asleep.
He is my teachers favourites, they sometimes call him to come over during the lectures (!).
He does not cause me any troubles in public, no matter if it is the University or Starbucks.
It is possible, you just need to want it.
If you are lazy, that's fine. But don't blame your pet for your mistakes. It probably doesn't know how to behave and what do you expect.