I don't think they "want" to please as much as we train them to please us. They may love us and I do believe they do, but that being said, no I really don't think they actually want to please us. We reward them for pleasing us, so we are actually training them to please us.
Even when they learn something where we may think they did it because they knew it would make us happy, we have probably trained them with out knowing we did.
I know they bond with us but they are pack animals so they want or maybe need to bond with the pack. Even then in a pack they don't do things to please other animals they just do what they need to or the alpha will teach them what is acceptable. We are the alphas. We teach them what is ok and what isn't.
Hope that makes sense lol.
Just my opinion