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Animals have a "will" of their own, just like humans. That's why some animals will rip open your couch, while others would just prefer to pee on it. Another might not hurt it, merely lay on it.
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But this is where you make the biggest mistake. You're assuming dogs are capable of rational thought. They are not. Dogs don't merely do what they do because they have long thought processes. The dog will piss on the couch because it has to go to the bathroom. It will tear up the couch because it is bored. It may lay on the couch because it find the couch comfortable. They don't think in terms of, I'm going to "x" to this couch because I want to.
Dogs can learn, but they cannot think or comprehend subjects on the level that humans do. Take classical conditioning for example. Say whenever the dog hears the rustling of a potato chip bag, and it is present in the room, it will get a potato chip. Now, say you come home from the store, and open your bag of potato chips. Your dog hears the rustling and comes bounding into the room, salivating heavily. It has merely learned to associate one thing with another. The rustling of the bag means he gets food. The same could go with a fenced animal. The animal can learn that whenever the "master" opens the gate or fence, that they're supposed to leave the enclosure. Just because animals may run away doesn't warrant that they're unhappy in the least.