Do you thank you pets for the things they do that you like?
Do you thank them for listening to your requests?
Do you thank them for making good choices? Such as peeing and pooping where they are asked. “Sitting” when you request, etc.
I am a big advocate for communicating with animals the same way you do with humans.
If you ask a friend to bring you a water on their way from the kitchen, I’m sure you’ll say Thank You when they do.
This is not any different than asking your dog to “come”, “sit”, etc. It is not any different than asking your horse to “trot”, “leg yield”, etc. or asking your cat to use a litter box in the location you choose.
Thank you pet. Animals have almost zero choices in life. We make most of their decisions for them. The least we can do is thank them for being so agreeable.

This small gesture will show your pet appreciation. It will help your pet continue to be agreeable. And it will deepen your relationship.