Other people have explained other reasons, but artificial selection also plays a role. When humans breed animals they select ones with desirable traits. Domestic animals that get along well with humans are more likely to be bred than those who do not. This is especially true with companion animals like dogs and cats. Over time this behavior becomes part of their genetic make-up. In effect they come pre-loaded with “friendly to humans” software.
1. Mammals, in general, incorporate physical touch into social bonding. It’s a part of the makeup of mammals.
2. Any domesticated animal has evolved to appreciate human novelties. A good example is how dogs evolved more muscles in their face to display more expressions compared to wolves. By evolving features that bond them closer to their caretakers, they survived longer or were prioritized for breeding, so those genes were passed on.
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