Yes, because he loves you with the innocent moment-to-moment joy 50,000 years of human-canine cohabitation have created.
When he poops on the carpet he thinks, “Poop happens, now let’s go for a walk.” While you clean up, he runs to the door and makes his hilarious little puppy bark. And then it hits you; he’s got Buddha nature. He’s in the present moment and you’re in the poop. It’s time to go for a walk.