I dislike companies throwing their weekly "newspapers" and shoppers on my lawn. I've generally had good results calling the circulation manager personally and asking him to get his carrier (often a self-employed contract worker) quit doing it.
If that doesn't work, I call or write the publisher to let him know that my previous request have gone unheeded. I remind him that according to county code, what they're doing is in fact littering. I politely tell him that if it doesn't stop, I'll email a picture to the county zoning enforcement department and file a complaint. That pretty much takes care of it.
I've only had to file one complaint and they were hit with a $250 fine and cleaned up their act. Once in a while though when a sub is driving the route, I'll find one in my yard.