Need help with training our cats, frustrated

So we have 2 cats we have been trying to train before baby arrives, and it's going horrible. We got them to not climb on our bed, but they do not want to stop climbing in the crib and on our kitchen counters, I told hubby we should do this now because everyone is telling me cat hair is bad for baby and they will sleep on top of baby and smother baby if she gets here. I'm so frustrated with them now because they just won't listen, what to do, any advice would be appreciated, I feel like crying because I get so frustrated and mad, my blood pressure goes up when I catch them on the counter tops and in the crib