I think dogs are telepathic. My dog always seems to know what I intend to do before I do it. He also lets me know when he needs something, like a lift up on the bed. He is smarter than a lot of people I run into.
I read a study a few years ago that said you communicate with your dog much more with your facial expressions than with verbal commands. Dogs are unbelievably perceptive in taking meaning and understanding from your facial cues.
Mine, too. Well, one of them anyway. She seems to know whether I'm going to let them out, give them a treat, go for a ride etc before I make any moves. She's right about 90% of the time.
As for my other dog, he's a big lovable googball but not the brightest creature on earth, LOL!