True, though scientists have a history of overcompensating for this, denying the intelligence of parrots, etc.
Dogs have evolved over the last how many thousand years to be very adept at manipulating humans in order to get what they want. They can be extremely sensitive to their humans’ moods, and not just by facial expressions. I wouldn’t be surprised to hear that scent is involved, since they’re so darn good at it.
Just an anecdote, but I raised a great dane in a co-ed frat. Girls in the frat would take him for walks at night, and would remark about how whenever they felt threatend or afraid (e.g., by a passing stranger), the dog would bristle and walk very closely, pressing against their thighs or hips, which they found very reassuring.
There are myriad other cases where we can tell that dogs are quite sensitive to our moods, and it shouldn’t come as a surprise, since they’ve been co-evoloving with us for milenia, in a role where they’re dependent on us.
In any case, I’m convinced that most dogs can read the expressions of their family members, just as dog lovers can read expressions on dogs’ faces and body language. I was surprised to learn that many people can’t see a dog smiling!
Back to the OP’s question, I don’t know of any research, but I would be astonished if the other apes (gorillas, chimps, and bonobos), when raised with humans, couldn’t read our expressions quite well.
We have cats too, and I can read their expressions to an extent, but can’t say whether they pay any attention to our expressions or can read them. They certainly can pick up on mood, though.
How would that be any different than any other cat-human interaction? 