According to the U.S. Department of Agriculture's Cooperative Extension Service at the University of Florida, "There is no known product for both effective for control of infective hookworm larvae on/in living turf or other plants and safe for plants."
Pest control companies have no product that specifically targets the nematodes that cause hookworm. Any application of chemicals would also destroy the beneficial microorganisms living in the soil.
The best lawn treatment is preventative. If possible, use a concrete or gravel pad for a dog to use. Otherwise, train the dog to use only a small portion of the lawn for relieving himself.
Remove the feces as soon as possible from the lawn so that the eggs do not become established. Avoid having the dog come into contact with feces as much as possible.