Dogs communicate in a variety of ways, from sniffing each others bits, to facial expressions and wagging tails, and leaving their calling cards on lamposts. They can invite others to play by bowing, or threaten an enemy by going round them with stiff tails, and lips curled. They can submit to other dogs or humans by lying on their backs and exposing their vulnerable underside.
Some dogs do make verbal sounds, which can range from whining, to growling to a full throttle bark., all of which seem to be understood by other dogs.
My oldest just has to give the others a 'look' and they know exactly what she is saying!