Yes they do ^
Dog communication refers to movements and sounds dogs use to send signals to other dogs, and other animals A.K.A = ways to show emotion.
Dogs use certain movements of their bodies and body parts and different vocalizations to express their emotions. There are a number of basic ways a dog can communicate its feelings. These are movements of the ears, eyes, eyebrows, mouth, nose, head, tail, and entire body, as well as barks, growls, whines and whimpers, and howls.
Like us they whine or cry when scared , they shout or howl or they show that there mad by growling and attacking.
Tail = How high or low the tail is held, in relation to how the dog's breed naturally carries its tail, and how it is moved can signify the dog's mood.
Aggressive= When a dog's lips curl back this shows that the dog has a strong urge to bite. This is an unconscious reflex, designed to get the soft flesh of the lips away from the teeth before the dog bites, and is often misinterpreted as a way of communicating aggressive intent.
Ears= Ear position relates the dog's level of attention, and reaction, to a situation or animal. Erect ears facing forward means the dog is very attentive. They lay their ears back for the sounds surrounding them and also when in a submissive state.
Tongue (Licking)= Dogs like to lick human skin not only for the salt from the sweat, but also as a form of greeting, such as by briefly licking a person's hand after sniffing it.
Dog showing Love :
http://youtu.be/5HKbvjg8D2A
Dog showing courage :
http://youtu.be/tQvGDSNcfR0
Dog trying to save friend :
http://youtu.be/_nkadPBEKFk
Dogs have feelings they don't express them like a human but they do if you take a dog and hit it it will yelp it won't just have a blank face or anything.