Fortunately, I implemented this practice from the start. I started w/ my dog (as a pup) by playing the game "trade ya!". I'd walk up (armed w/ a treat) - say "trade ya!" show the treat, once he was focused on the treat, I took the item. No growling = he got the treat. a reward for good behavior. I did this w/ toys, chews, bones. I never took his food away from him, however, I did place my hand near the bowl while he was eating and used just my voice to praise him. (didn't touch him while he was eating)
I believe you should be able to take anything away from your dog, at any time.
teaching commands such as DROP IT, GIVE and LEAVE IT can be very helpful. of course, always reward the good behavior. if your dog gives up the bone or toy, give it right BACK. he'll learn if he gives it up w/out attitude, he gets it back. you can associate a command w/ this, such as OUT or GIVE. this is especially helpful to me when my dog has a chew that is too small, and becomes a choking hazard. I know I can safely take it away.
I don't think you need to use much discipline, simply reward good behavior. set your dog up to succeed, and always end on a positive note. I'd start with something of low value, such as a toy - not a bone. graduate up to a bone. but starting out w/ the bone may lead to disaster - you getting bitten or the dog displaying terrible manners which inadvertantly get reinforced by him keeping the item.
I also have certain toys that are MINE and mine only. A select few that I decide when he plays with it, he must obey all commands when playing w/ it, and must mind his manners. if he slips up - toy goes away. i.e. tug w/ a long stuffed snake… I decide when we play. I START the tug session. I END the tug session. if he won't DROP IT or GIVE when asked, it gets put away, and the game over.