My do thinks we are going to do bite work everywhere we go. How do I train him to relax?

I have a 1 1/2 year old Malinois. He thinks that everywhere we go we are going to do bite work. How do I train him to relax? He has good obedience but sometimes he wants to bite everyone. He won't do it if I give him his negative maker "No." But I don't trust him or my own reflexes so I muzzle him everywhere. I would like him to be safe around strangers. He doesn't need to be their friend, just ignore them. I am guessing you are going to tell me to work on engagement so he will focus on me instead of others. If that's the case then I will just keep doing what I am doing. Because that's what I am doing. Btw you guys are great. I have learned so much from your website.