What are the routine gestures of pet animals?Which words are used for them?

Answer 1

The flattened ears, teeth showing, baring belly for submission are easily 'read' by humans. Some characteristic signals, however, are often misunderstood. For instance, a cat rubbing its body along an arm or leg of its human is not only a way in which to attract attention and, perhaps, a morsel of food. It is also a way of 'marking' its human as its very own. Using scent glands located around its mouth and elsewhere, it subtly 'marks' its human as part of its cat territory. Most cats prefer gentle rubs behind the ears. To inform their humans they need petting or attention, a cat may push its entire body weight up against the human as the cat snuggles next to his/her favorite person.

Answer 2

http://www.pawsacrossamerica.com/interpret.html
http://www.wagntrain.com/BodyLanguage.htm

pets don't communicate with words, they hear on syllable commands...or use body language to understand us.