After returning from a trip to see his parents, Satchel is upset that his father is a rescue dog and that he himself has no accomplishments to be proud of. Rob's response? "You make my life happy, dude. That's huge to me."
And right before that, as Satchel's dad is tearing into Satchel, Satchel's mom comes in and not only tells the old dog to "leave the boy alone" but also gives her son a big hug.
There was a strip where Rob and Satchel were looking at some old photos from when Bucky was just a kitten; he's downright adorable and terrified of the big scary world around him. This moment is then subverted with Rob's comment: "He used to be so cute... what the [expletive] happened?"
Which ties into how Rob got Bucky: He found him abandoned in the garbage and rescued him.
Bucky giving Satchel a genuine hug after receiving Satchel's gift of Ben and Jerry's Chunky Monkey ice cream. Bucky thought it contained real monkey, and was very moved by it.