We never had spanking in our house either. Not that our Shephard would have let us. We just never did. Once, though, when my husband was picking on our daughter, and our son jumped into the "game"..they were trying to tickle each other to death...Cooper, the shephard, just jumped up on dad and shoved him out of the way. It was the funniest thing!

Dogs that are raised right, like yours are, know! They just know! That's what it's all about, being raised right, with love and care and the proper training. I really, really don't think there will be a problem adjusting at all. You obviously have good dogs that know they are loved, and you know what you're doing.
All will be fine!