We train ours to walk at heel, loose leash. But if they are together they will still pull and bark aggressively at other dogs. They are in training, not completely trained.
I’m not sure what you mean by properly, though. I would consider the dog walking close to me & slightly behind a good trained walk, and do if possible cross to avoid giving them temptation if there is a dog. Better to give them a chance to be good, than to have to correct them.