Dogs definitely recognize their acquired family, human and canine (and feline, etc), with no vocalizations. My Shetland Sheepdog had near 100% accuracy going and finding a huge selection of latex toys (caterpillars, alligators, and so on) and knew them all by name, many by name and color. And, yes, I know the obvious retort of "but dogs don't see color", which is false, as it is for cats; the correct statement is that they are both _likely_ color blind in the sense that there exist colors distinguishable by humans which to dogs (and cats) look indistinguishable. So, I could ask her where she put her green alligator and she'd repeatably, for years, with such games return from god knows where later with well over 90% accuracy (even if it was a grey alligator to her).