Dogs rely on their sense of smell to navigate the world, while humans rely on their excellent eyesight. Anyone who thinks their dog smells bad should spare a thought for what their dog might think about how they smell! Have you ever seen a dog being cuddled while looking somewhat disgusted? Yes, your dog has to learn to like living close to you, and it stems from a difference in perspective.
While people perfume themselves with citrus and florals, dogs use carrion (i.e. dead animals) and faeces, which equal food (since dogs are scavengers). You can easily see the culture clash here, yet our two species have remained best friends over the centuries in spite of fundamental value differences. In this way, the human-dog relationship is a real testament to tolerance.