No you don't, and you cannot without falling victim to the Pathetic Fallacy. We cannot know the world they live in. They are aliens.
We can enjoy dogs, but cannot truly love them because we cannot know them: Man and Beast.
One quote:
For 2,500 years it has been known to the students of nature that the more one learns about animals, the more wonderful they become. The observation stands confirmed by the instruments of both science and art, but the animals are most instructively perceived when they are seen, as they were by Beston from the beach on Cape Cod, as other nations complete in themselves, “gifted with extensions of the senses we have lost or never attained, living by voices we shall never hear.”