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Dogs take lots of things in context, so it's hard to say. Lots of things aren't interpreted as "dominant" or "submissive" by them, but could still be intimidating.
For example, petting a nervous dog on the top of the head could make it more nervous, but wouldn't really be a sign of "dominance" on your part. By the same token, many dogs will offer their bellies for a scratch, and even though a "submissive" dog might also roll on its back, it's not necessarily a sign of submission in a confident dog who likes belly rubs.
So, in answer to your question, it strongly depends on the dog. My dogs lick my hands sometime, but I couldn't consider it "submission," even though licking can be something a submissive dog does to show it. They also jump up on the couch and come over to snuggle or put a head on your leg, but I wouldn't consider that "dominance," even though it could be a sign of pushiness in another context.
Does that help?