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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).
Dogs' actions are their words. The feeling of a nudging pooch sure is cute. However, it's important to remember that your dog's goal with the action may not be to be adorable, but rather to express a message to you -- or to another dog. Nudging can indicate everything from submission to a simple request.