I cannot say what I feel in any human sense, Partner Elijah. I can say, however, that the sight of you seems to make my thoughts flow more easily, and the gravitational pull on my body seems to assault my senses with lesser insistence, and that there are other changes I can identify. I imagine what I sense corresponds in a rough way to what it is that you may sense when you feel pleasure.
R. Daneel Olivaw explaining to Elijah Baley that he enjoys his company and is, in a robot sort of way, happy to see him again. Also that he wants them to smooch seriously its so canon you dont even know, seriously this is an actual quote from the third book (via excitabletortoise