My 5 yr old weir hair terrier cross gets overexcited when i come home and pushes her sister out of the way.?

whenever my mum or i come home my 2 dogs jump like mad and scratch the screen door and when we go out side they get heir muddy paws on our clothes. and nina, hte wieir hair terrier get too excited and pushes and knocks her sister over. I dont want to yell at her as they both came from an abussive background and they get scared reli easyily. HELP!