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.
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