Dogs are generally happy to see their owner so long as that owner is not a total ass to them. It can be hard to find another human being that just enjoys your company, not impossible but it can be hard.
Think one of my friends said something along the lines of "Dogs make better people then most people" Take that for your own interpretations.
All in all I think dogs are pretty cool
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You do need to establish that the master(human) is going on the walk and that the dog is lucky to tag along, it makes controlling the dog much easier