In my experience of dogs, they don't know whether they've pleased me or displeased me, and there is apparently no way for me to communicate this to them.
I think the fact that dogs are highly trainable would contradict your experience. My dog explicitly understands at least a dozen words and is keenly aware of tone of voice. I have identified four or five different barks that he uses to communicate with me. For example, his 'let me in' bark is very distinct from his 'I have treed a squirrel' bark.
Not only is he aware of my mood toward him but he has shown evidence of anticipating it.