They do according to researchers at the University of Agricultural Sciences in Sweden in a recent study.
They trained 12 Beagles to use pieces of equpment in an arena to solve puzzles.
In the experiment the dogs were matched in pairs. Half of them (the experimental group) had to use the equipment and solve the puzzle to get a reward while the others (the control group) got the reward without working for it.
The dogs took turns being the experimental and control dog.
The researchers found that the experimental dogs were more excited to get in the arena and showed visible signs of excitement and happiness, such as vigorous tail wagging.
The control group was more reluctant to pick up their treat without having to work for it and even showed signs of stress and confusion.
The researchers say, “The experimental animals in our study were excited not only by the expectation of a reward, but also about realizing that they themselves could control their access to the reward. These results support the idea that opportunities to solve problems, make decisions, and exercise cognitive skills are important to an animal’s emotional experiences and ultimately, its welfare.” Source
These results probably don't come as a surprise to any dog owner.
Is your dog a work or welfare dog?