The dog isn't going to rest when you want to chill. The dog isn't going play when you want to play fetch. Humans (animals) operate on different schedules. Having concurrent energy and enthusiasm is a rare collision.
That's why we plan ahead. That's why we schedule things like meetings and vacations. We have to set expectations so that our collective space and time align. But cooperation can be brittle. Someone's got to give in.
Perhaps the dog convinces you to get off the couch or you inspire the lazy dog to play fetch. Both parties get exercise but only after the initial rift. Opposites attract through a process of denial, acquiescence, and then appreciation. Amazing things happen when we change our mind and fight the resistance to say no. Actions trump emotions.