Despite the fact that dogs' brains aren't as sophisticated as ours, I do believe that they can experience love. Even if it's just associating their people with good things like cuddling and food, which makes them happy to be around their people.
But I do know that dogs at least recognize some people as people they want to be around. When I left for college, my dog was miserable for weeks. My parents said she whimpered a lot. Even on moving day, she was sad to see me go. Then when I came home to visit, she wouldn't leave my side and managed to jump in my lap even though she's a good size dog. She gets just as excited to see me every time I visit. I've heard of things like this happening as well when soldiers return home. I've seen videos of dogs being so overjoyed to see the soldiers, I just find it hard to believe that they can't love us.