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Submissive grinning, sometimes called smiling, is when a dog pulls up their front lips to expose their teeth (check out a video here and a photo here) and it often occurs during an initial greeting (dog to human, dog to dog).
Well, according to Mental Floss, there's a science behind it: Dogs are trying to tell us that they care (heart melts instantly). Apparently, when a dog tilts its head, it's a symbol that they are showing us empathy and that they are engaged. It's not surprising, really, as we all know how in tune with our emotions dogs can be.