Aside from the obvious phrases like “treat” and “walk”, my dog understands the sentence “I need to get up”. Because he’s often laying in my lap. No matter what tone I say it in, he’ll immediately leap off me when I say that.
I’ve also seen him enacting “guilty mode” when I have no idea what he’s done. It’s not a reaction to being scolded because I haven’t scolded him yet, so he must understand that he’s done something he’s likely to get scolded for.