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Submissive grinning, sometimes called smiling, is when a dog pulls up their front lips to expose their teeth (check out a video here and a photo here) and it often occurs during an initial greeting (dog to human, dog to dog).
1 Many people are greeted in this way when they walk in the door. It really means Hello there! and is usually followed with the dog's typical greeting ritual.  Long string of solitary barks with deliberate pauses between each one is a sign of a lonely dog asking for companionship.