I’m not sure about all animals, but I’m pretty sure my sphinx cat does. I have to give her medicine every day and not only does she knows when it’s time to get it, but there are times where she will hide under the bed. Just laying down and looking at her and asking her to come out is enough to get her to wander over slowly and get it. It’s funny, you can almost see the thoughts going through her head as she realizes she has to just give in and go get her pill.