There is no doubt (in my mind) that children can be trained to be "good babies".
American Indians in times past would start soon after birth teaching a child not to cry. Back then, a cry might alert a nearby enemy, startle an animal being hunted, whatever. It was important. So the moment a baby started to cry, they would pinch it's nostrils shut. The initial reaction to this was panic, because infants are obligate nose breathers, so they would stop crying. Applied every time a baby started to cry taught the child to simply not cry. So they had a "good baby", but at what cost? I assume it wasn't small.
You say you want a good baby (don't we all!). But there is a price to pay for a baby who has learned a hard lesson to stop doing what comes naturally to them: testing gravity, cause and effect ("If I drop the bowl, will daddy bend over/bring it back?")
The only way I think he understands is to be very stern when telling him off but it feels like I spend too long talking to him sternly!
The way this works (and if you are very consistent, it will work!) is that he will learn to fear doing the behavior because of the displeasure it invokes in you. When he does something unwanted, he feels unsafe in your harsh speech. So he'll stop, eventually.
I want him to be well behaved but I also want him to be happy and to feel loved by us.
If the culture you are in values obedience and tidiness above individual expression, this will be a good way to make your child conform. And he may well get heaps of praise for being a "good baby". But the real question is will he feel loved? It depends on how you define love.
As an American, I think you're expecting a lot from your son. The only thing I would consistently discourage is grabbing the glasses, and I wouldn't yell. I would just say no, take back my glasses and put the baby in a boring place for a minute or two (an empty playpen for example). Every time he did it.