Dogs are, by nature, both communitarian and territorial animals which consider their owners as the leaders of their respective herds.
When a stranger approaches, they bark: They are alerting the other members of their herd, the humans, that they should be aware of the presence of that stranger and decide what to do with him. It is their way to show their commitment with the rest of their herd.
Heptagrama, the web summed up.
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