Before we look into the reasons why a family dog might stare at their owners, we should first consider what direct eye contact means in dog language. This is an especially important subject when adopting a street or rescue dog that has not grown up around humans. Dogs who have had little-to-no contact with people are unlikely to have an understanding of how beneficial and non-threatening eye contact with humans can be. They will only know what it means in dog language.
In canine communication, staring intently is usually a way of establishing a hierarchy or projecting confidence. Brief eye contact is normal when meeting for the first time. However, staring or prolonged eye contact is considered rude amongst dogs. It is a form of challenge for authority which could lead to a fight or one dog taking flight. Most dogs make brief eye contact and look away again to indicate that they are no threat. If staring does occur, it is usually because there is a valuable resource nearby that a dog does not want to give up or the dog is scared and projecting themselves.
When a human inadvertently looks too long into the eyes of a dog who is not yet accustomed to the human-dog language, it can be interpreted wrongly as a sign that the human is threatening them. Fear, confusion and survival instincts may kick in and cause a dog to become animated and possibly aggressive.
Making and breaking eye contact with a street dog that is unsure, nervous and fearful is the way forward. If this is coupled with other calming signals such as turning away slightly, yawning, and slow movements, most dogs unfamiliar with humans will also relax.