I rub my pugs as they enjoy that.
My cat lays at my feet and rubs herself all over them, does that count?
I rub him with my feet too, he sleeps at the end of my bed!
I do feet for the dog at times. saves a handwash and shes happy
I often rub the dogs with my feet, especially if I have just washed my hands and about to touch food
Of course I do rub their cute little bellies and their little heads and I always make sure to rub their ears and they love it ...lol..how could I not they show me alot of love every day...:)
They sure do they have feelings too...:)