Also, you don't say how big Millie is. With regard to the petting, as a rule of thumb, it's always better to let the dog approach you. If you reach out to her, move slowly and keep your palm up. I ask about her size because little dogs can find human gestures much more threatening and people tend to be more casual about invading their space.
I read some books on dog body language and was dismayed to see that Thor was exhibiting all kinds of "back off" gestures to me, mainly licking his lips. Honestly, it can be frustrating. Sometimes I want to throw my arms around him and snuggle him mercilessly, and he starts licking his lips like crazy. I stop, he stops. I start, he starts. I'm hoping he'll get more comfortable with me as time goes on.
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