There are many ways to teach crawl.
You can use a target stick, and teach the dog to follow the target stick.
You can simply use a down stay, lure a few inches, click and treat, and slowly decrease your luring until all you have to do is give the command.
You can sit on the floor with your knees up and lure the dog under your knees, click and reward, and then go to maybe sitting on the edge of a chair so the dog still has the visual of having to stay down to get under your legs, then go to standing and asking for the crawl.
I have used all of these methods with success. Just depends on the dog. Hope this helps!!
Although I do like to utilize the hyperactivity, I try to channel it. If my dogs get too overzealous and start offering other tricks and luring them into the desired trick isn't working, I asking for a sit or down and stay, and let them calm down for a minute or two. Then I ask for the trick again, and lure if necessary. If they're really just incredibly excited, then I'll go into a more active trick or do one of their faves to utilize the energy. For instance, if Mud is really excited and doesn't want to wave, then I'll ask for a sit(which she always does) then grab her fave toy and do a leg weave, rewarding with the toy at the end. I always ask for a command first(like the sit) so that I'm not rewarding her for not listening to me. We do a few active tricks, and then we'll go back to the original thing I was asking for. She gets more tuned into me this way and is more willing to do her other tricks.
Hope this helps!!