When four legged animals hug us and lick us are they trying to communicate on our level?

Of course this is how they show their love for someone. After all, they cannot speak like us so their next form is the way they show each other love too, the licking and hugging and purring(if a cat). Bears can hug each other due to the fact that they can stand upright, and Lions, tigers, other animals can make a great effort to. But their normal way of showing love to each other or to their young is to lick them and grab them and toussle them around sometimes so if they are doing it to a human, they are just showing their love and appreciation for them.