Years ago, when home web cams were new, there was a documentary that showed what pets get up to when the owners aren't home. The #1 first thing is to get up on all the places that they're not allowed.
They don't learn that they're not allowed certain places; they learn that they're not allowed when you're around.
I finished my lunch one day, cleared off the table, went back downstairs to my office - oops, I forgot something - go back upstairs immediately to find my dog already completely standing on the table, looking for crumbs.
Yah, it was just a comment, not a criticism. We do the same with ours, in the futile hope that they'll at least abstain from jumping on the dining room table when we have guests. In true cat fashion, we have one who only jumps in the dining table when we have guests.