You want to do something to really make your dog happy? Give them obedience training. Everything we know about the evolution and social nature of dogs tells us that dogs are happiest when they have structure and a way to communicate through training with their human family.
Just like children, dogs come into the world filled with love and curiosity, but not manners. They need to be taught how to live in harmony with their humans.
With obedience training, taking your dogs for walks and playing, you are respecting your dog’s true needs and true nature. As for your dog, he will love and respect you as his kind and benevolent leader.