Yes! My cat Tiggy always does this. She'll even try to mimic some of the words you say, and sometimes it sounds like she's calling me 'mum' haha it's so cute
I once had a dachshund named Angel who would say "I love you", "I'm hungry", and "I want to go out". She could have just been repeating the I love you, but the other two she had to put together on her own. Strangers would be rather shocked when she talked as it was rather clear what she was saying. My current dachshund has slipped up once or twice and talked but I think she is too stubborn to do it regularly.
