How self aware are animals?

Cows know when its time for milking, they form an orderly queue, afterwards they amble back to the appropriate field. They soon fall into a routine.
Our dog also knows routine. She lets us know when she is hungry by looking at her dish and barking at us. She lets us know when she is feeling playful and want’s to play. When she is ill she looks miserable. When she’s pleased she runs around and is full of joy. She tries to boss us and tell us to come in out of the garden and sit and watch TV whilst she curls up next to us. If we go out and leave her she cries and is miserable. A few weeks back she fell down the stairs. Thankfully she was ok, but since then she will not come down the stairs. How’s that for a quick lesson. Obviously she found it very traumatic and will not risk that again. If that ain’t logical reasoning then what is?
The cat we used to have was very independent. He would turn up his nose and snub us when it suited. If we had been away for a week or more he would meow at us and tell us off for leaving him. Then he would have a sulk and ignore us for a few days.
Once at a slaughterhouse for pigs. I saw a pig that had escaped and was trying to get away. As it ran around the car park I could see the look of absolute terror on its face. It knew what was happening.

If we can recognise these things in animals, then there must be some common thread, some common genetic pool that we all originate from. Surely then, animals must have feelings like we do, maybe to a lesser extent, maybe not as self aware as us, but what do we know of how they think and feel?