I don’t mean the usual one like walkies and din dins, but words they know, that they taught themselves, as a benefit to them.
For example, I’m disabled with a pain condition. When it flares up, I lay in bed, like today.
If I say to the dogs, “do you want to go upstairs?”, they immediately fly up instantly knowing what I’ve said.
Not sure which word triggers them, but they make no mistake of understanding me