Social animals do. Many species of mammals and some birds use grooming and play to reinforce social bonds in the group. They will extend this to you once they’re sufficiently confident you’re friendly, and do enjoy it. A lot of them will even return the favor, although you might not like their licking.
Non social animals are more of a crap shoot. Some can learn that you’re the food man and hang around you, others are indifferent or aggressive towards any contact at all.
Don’t pet cobras.
It depends on the animal. Social pets (dogs,cats,rabbits, birds) like pets because they come from wild animals that would groom each other to stay clean. Even in the wild this is a social behavior. When humans pet them, it’s the same idea: contact means bonding because you are helping to clean them. Some reptiles enjoy pets too, but usually not as much.
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