Keeping dogs from peeing/crapping on concrete?

We moved into a house a little over a year ago with a fenced in backyard. One of the selling points was that we could just let the dogs go outside instead of walking them. Back when we used to walk the dogs in our old neighborhood, they never crapped or peed on the concrete, they always went in the grass. Now, even on pleasant days they're too lazy to walk 75 feet to the grass and they go all over the steps and the patio. It's nasty to have to avoid landmines when I go to the garage, or my car, or the backyard. This morning, my wife slipped on dog crap and fell. Anyone have any recommendations to get the little rascals to use the lawn like God intended? I was looking online and they were suggesting spraying vinegar on the concrete and then scattering cayenne pepper. I like that suggestion, because it's a cheap, easy fix. Does this work?