Yes,all of my dogs are good at this. But I know at least for me it has to do with if I'm looking at them. If I look at them and get up and go their direction they immediately turn on their backs for rubs. If I look at them and head another direction they immediately follow me.
Dogs are so good at picking up your facial expression, they can tell if your face reflects excitement or anger. I'm sure I have certain facial expression of adoration just for them and they recognize it. Even a laugh I do when they do something funny causes all of my dogs to run to the fridge for a treat.