Of course they do. It's a silly question.
Dogs are social animals, that NEED an alpha. They want to please the alpha. That's just what they are. Training, for a dog, is letting the dog know what you want when you say something. It makes them happy when you are happy with what they do. The alpha knows best and wants the best for us, so we should do as the alpha says because it will make everyone rich and happy.
Humans are like that too, to a lesser degree.
Training dogs is paying attention to them (just don't get excessive).
Cats, however...