When I ask them to.
I'll go to bed, I'll call she. Sometimes you don't even have to call, it comes by itself. I pet her, she spreads her legs and lies on her back. That's already a good sign. If she doesn't like it, she leaves.
It may happen that she just wants a belly rub, this becomes clear when I start stroking her pussy. In such cases, if she doesn't feel like it, she covers her genitals with her tail, gets up, goes to the corner and lies down.
If she feels like it, she lies back even harder, spreads her legs and allows the pussy to be caressed, massaged and then licked. If I caress for a long time, precum also appears inside the pussy, which is also a good sign.
If I stop, she starts to jump a complaint and lies back again so that, I can continue massage. At some point she claws at my hand with her front leg to keep me going.
This is just the foreplay.
The actual sex is almost always expected after this, but it has happened that during sex she started hobbling and got up and left. In such cases, you have to let go. She probably just wanted a massage around her pussy, but no sex.
There are times when the pose is uncomfortable for her and she gets up during sex, but she happily jumps and comes right back to me. In this case, it's just that the position was uncomfortable and she wants to continue in a different position.
When they want.
When she comes and claws, pushes with her nose, she can do this for any reason, but if she then smells my penis, claws my pants and wants to pull them off with her mouth, that's a clear sign. They did this even when I was sitting in front of the PC and when I was lying in bed looking at the phone.
These are the bigger signs that clearly indicate what they want. Those who have been living with dogs for a long time get to know and learn the microsigns that are necessary to decide what the dog likes more during sex. How much massaging, how much licking, how long the foreplay should last, how gentle and slow or stronger and faster the sex should be, how deep the penetration should be, how much she likes "knotting", after sex she prefers to snuggles with me or she run out into the garden.
I have dog that likes to "knot" for a long time after ejaculation, but there are some that want to quick finish after a while because they want to clean themselves.
And it could go on for a long time. Female dogs also clearly indicate everything, but these signs are easier to hide (the negative signs) and thus have a larger gray area than male dogs.
I have many dogs. It also happens that, after the massage she gets up and leaves because she doesn't want sex, but another immediately comes and starts licking him, lies on her back and asks for sex. In such cases, it is difficult to decide whether she is really asking for sex, or if she just wants to please me, or if she is jealous? Maybe dogs can lie? But even so, if this is true, they lie much less than people lie to each other. How many relationships consist of tolerate sex with each other while lying that it was good and that they love each other...
Regarding the anal and oral issue, my experience is that very few dogs really like anal, they usually just tolerate it. This is a difficult area. 99% / 1% is a bit of an exaggeration, but definitely few dogs like to do it.
I mention the oral because there are dogs who don't like pussy licking, the stimulus on the clitoris is probably too strong for them and it's uncomfortable, because if I just rub the outside of the pussy with my lips, they really like it. However, some people like it when I lick the juicy pussy juice from everywhere as far as my tongue can reach. This is also something that the dog communicates with micro-signals.
Body signals can be used to decide whether they want to have sex, and micro signals show the direction of how to have sex well.
Getting to know them takes time and experience, and sometimes making minor mistakes.
Female dogs are just as difficult to experience as human women (I only know from writing, I have no human experience). Definitely more difficult than male dog/man.