I don't know either, but it seems to me they do, because mine knows every evening when it is time for my husband to come home and they are waiting and listening.
I also had a poodle growing up, that used to go sit in the window when it was time for me to get home from school. My mom said every school day at 3:15 she went to get into that window.
One other thing, Cooper my little boy doesn't mind if I am gone for a few hours, but if I leave for a couple days or overnight he gets mad at me every time. When I get home he growls at me and won't come to me (although you can tell he wants to really bad). He stays mad for a good couple of hours before he will have anything to do with me. He never does this with anyone but me...and I have to be gone at least overnight for him to act like this.
It makes me really sad every time he does it...but my husband says it just cause he loves me so much...so I try to remember this and not be sad.
__________________ Delaina  Cooper & Carley |