Well I think it depends on the animal. But yes, some can.
Dogs and cats certainly have the capacity to "love" their owners...
As for other critters, well, let's just say that my Iguana may be the closest to being capable of 'love'. Some days she barely tolerates me, others she has been known to snuggle.
My snakes and geckos are just reactionary - I do not think that their cranial cavity is large enough to have the capacity for love. I think they just see me as a food source and appreciate me for that.