I know my BP loves me. Part of it is my maternal instincts. You know when someone (animal or human) is projecting love.
Secondly, my Seshat is incredibly affectionate and adores being held. She bursts to life. When she is on me she constantly kissing me, either on the cheek, ears (she loves my ears for some reason), neck and many many times she comes to my lips for kisses. We also play peebaboo blankie on my bed so she can "stretch her legs". I keep my face level with the bed and she will come and kiss me on the lips.
I believe all animals are capable of feeling love, affection, fear and sadness and can form a bond with humans.