They actually drink slightly differently but the licking is because they can’t form a vacuum with their mouths so they can’t suck the water up they way do or a horse does. Their tongues do a great job instead though
Cats and dogs can’t suck up water like we can – they could never drink with a straw.
You can see a dog drinking water in slow motion here – watch how its tongue moves the water so it gets into its mouth. Messy and noisy but effective – don’t try it yourself though, you’ll make a mess!
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