Can pets read human emotions?

I really think that they can and I have a few experiences to prove it. When a friend of mine passed away and I cried, my aunt's toy poodle named Sandy came up to me and began licking my hand. She was just in a corner asleep when I heard the sad news. I felt really sick that time and I had put my head on my forearm and just started sobbing. The next thing I knew, Sandy was there as if she's comforting me. This is what prompted me to get my own dog, a shih tzu I named Clio. It's just amazing how dogs can feel and give you the support you need just like a person would.