We always called this ecstatic-kneading behavior “happy cat.” If your cat decides to do this on your lower abdomen, you’ll know it.
But wait–isn’t this more in the nature of a friendly massage? The dog doesn’t seem to mind it. Then again, I thought it was a stuffed dog until it moved a little.
It all boils down to cozy, though.
This cat is very proficient and the dog seems unconcerned, but calm.