The reason domestic animals do anything is pretty much the same: they are domesticated. This means that they have been “artificially selected” by humans to evolve this behavior because it pleases humans. In the case of pets, this is often because it enables us to believe (regardless of whether it is true) that the animal “enjoys” some particular thing. Really, they have no conscious awareness of experiencing things or “emotions” in the way humans feel, they are merely reacting the way their genes and the resulting biochemistry cause them to react to any given stimulus.
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