Just feeling defeated today

Sometimes when I walk my dog I just can't help but feel intense jealousy and sadness seeing how other dogs just pass mine without a second glance, while mine starts his tantrum of overexcited crying and whining every single time. It must be so nice and relaxing to walk a dog that doesn't react like that. It's what I always imagined, going on long walks with my dog and taking everywhere with me, just enjoying the outside together. But every walk is a training session, I am always multitasking and looking out for other dogs, I can never enjoy the company of my partner or friend and engage in long conversations. We have a 3 year old mini poodle, unfixed male, and while we train during every walk, with treats and creating distance, it doesn't seem to get much better. Maybe he is slightly easier to redirect now than a year ago but that's it.. I guess we still have a lot of time with him so even if improvement is slow, in a few years it might be much better.. but still, it's hard to not feel sad some days and wonder what we did wrong to have him react this way.