I think they do. They seem to spend a lot of time looking at our faces. One of my females smiles to appease me. She just started doing this around her first year birthday. Same dog also freaks out if she 'can't' see a facial expression--i.e. I put a mask on.
My GSD recognizes smiles, and I use it to mark behaviour during heeling. He gets more upbeat. I've trained myself not to make any irregular movements or gestures during training to make sure dog only gets what he should be getting, so I'm pretty sure he responds to it. Of course it's probably not 'instinctively' learned, i.e. I've always smiled before I marked verbally, but it does indicate he looks at my face.
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