Same as cat, they do know that you called them, just that a lot of time they prefer to not answer. They also know what you’re talking about, and know the tone. That’s why dog and cat are domesticated, they can communicate with us, unlike for example, a baboon or gorilla.

I have 3 cats, and sometime i came home one of them wouldn’t wait for me at the door, only when i say “where’s Tina?” she will come running down from upstair to greet me.