We never talked about “walkies” or “going for a walk”, but instead said “put your coat on”, “get ready – are you READY?!”, or “All aboard!” – Timothy knew that meant we were going out.
When younger he’d get excited, when older he might snort, but always got up and stretched, ready to be compliant with getting into his harness.
If we were going somewhere without him, he’d always be good about it, and sometimes be almost “naughtily good” and climb up to the bay window without being asked. That was his acknowledgement that “I know you’re going out and I’m staying here, that’s OK”.