Well, for example, they would say "my master, but he's stupid, he bought me food that can't be eaten", so I guess not. But the way of barking definitely expresses the situation. I have two dogs. One is a born security guard and sleeps in peace, while the other flies and barks. Suddenly he barks differently and there is a fire on the roof. The guard takes off, so he must have understood the barking that an intruder was approaching.