When I say, "OK!" they rush to hop in.
I am very glad for my Subaru Outback, with enough room to hold two poodles comfortably, plus passengers and gear as needed.
Most often when the dogs get in the car, they're going to go for a walk around Washington Park, or even better, to the off-leash park. Jackson gets very excited and lets us know it.
We are bad to encourage him but that's how it is.