Oh, my dog definitely does. It's rare now that I don't walk her daily because she will come stare at me until I do. And oddly, she seems to be able to count. One walk a day, and she leaves me alone. It doesn't matter what time that walk occurs, as long as it's sometime that day.
I also play with her in the house, as does my SO. But her need for walks really helps me to get some extra exercise in every day.