First, and most importantly, don't EVER leave anything on the counter within his reach. If he is able to steal something, he is basically being rewarded for countersurfing. Each time he is rewarded, it becomes harder to teach him not to do it.
When my own Rookie was a pup, I caught him once or twice with his paws on the counter. As soon as I saw that, I scared the daylights out of him. I went running at him, waving my arms, yelling loudly, and moved him out of the way. I went really over the top, but he moved away QUICKLY! It only happened a couple of times because I really scared him.
The other thing I did was teach him to go to his bed while I'm cooking. His bed is in the kitchen, so if I'm cooking and he's underfoot, I tell him to go to his bed. In the beginning, I would give him really good treats if he stayed on his bed while I was cooking. But if he got off the bed he got nothing. Now I only have to throw a treat his way every once in a blue moon and he'll stay on his bed while I'm cooking.