Likewise, there is no standard set of vocal commands to use. Of course, most people call sit "sit", down "down", heel "heel", etc. But I know some people that train schutzhund and will use the German words for the commands. Or, you could do whatever the heck you want, call sit "banana" for all it matters.
Of course, there is some common sense to be used as well. You don't want to confuse the judge, so don't get too elaborate. But you aren't going to be docked marks for using terms that are not standard.
As for getting into heel position, at the end of an exercise the judge will say something along the lines of "finish your dog". You can choose to have them go to heel position either around behind you or directly to the left. Doesn't matter as long as the dog is quick and straight. I find that left finishes look a lot more flashy IF you have a dog that will do a nice left finish. Larger dogs will often do a finish behind the handler as it is easier for them to line themselves up straight by doing it that way. Left finishes can look really lazy and sloppy if not trained properly, in which case you might be better off doing a right finish.
My guys know both left and right finishes. I will judge which one I use based on the individual situation. If Romeo is working very sharply, then he has a nice snappy left finish. But if he is at all stressed (he can have bouts of ring nerves), then I will do a right finish because his lefts look sloppy and slow when he is stressed. Likewise, Gio has a fabulous left finish, but if his hips are bothering him that day then it looks jerky, so I will do a right finish. If possible, I do left finishes because they look really showy when done right. But if need be, I can switch it up and do right finishes.
