Do you think cats and dogs learn the word "sorry" from all times you accidentally step on them or discharge static electricity into them or whatever?

Pearl knows. She also knows "thank you".
I think she gets in my way on purpose, so i can step on her foot. She gets a vigorous rub and an "I'm so sorry".

Yes, I definitely think they learn what the word means. The little dog I miss painfully, seemed to be trying to 'comfort' me when I accidentally hurt her. She would right away come up wagging her tail and...lick my hands. For sure, she knew how bad I felt.

I think they do understand when it’s an accident and you didn’t mean to do that. Of course, affection and treats help. 😸

I hope so