My dog(s) have perfected their tragic looks so well that - in the very early, guilt-ridden stages of dog ownership - I actually took a photo of my phone of figDog after she'd been walked, had a nice supper of kibble and sardines, and was lounging on the sofa, on the basis that this had to be her 'happy face'.
Her 'happy face' is virtually indistinguishable from her 'sad face'. She is a basset hound.
Sometimes I do feel a bit sorry for them, if I have to go out and leave them, or if they have to have the short walk, but I have to make myself recalibrate the guiltiness according to what a dog expects from life, as opposed to what a human would. Dog wants a walk, food, warmth, bit of cuddling and chat, regular loo breaks. Dog does not feel hard done by if he doesn't have a different meal every night of the week, or seven hours of mind-expanding debate about the over-sexualisation of modern society.
But I know what you mean about the following around. They just like to be where you are. It's about the only job my dogs have, keeping me company and reminding me when the post's arrived...