The green dog was smarter than he looked, and he knew the Queen loved having her feet pampered, but never felt a tongue worship her, since everyone on Mars had no mouth.
In the ancient days, worshiping the foot of the Goddess was one of the most common practices during the pagan rituals.
Which is probably the most important reason why certain males and females are drawn to the lower parts of the female divine.
Queen Tyr'ahnee was sitting on her throne, drinking a purple drink, relaxing as some of her martian servants were fanning her with big leaves, and some others were rubbing her big feet, which slightly stunk from all the walking she had done today.
Most people are never strong enough to admit to their own fetish.
But she wanted him to go back to licking her soles, since she liked that more, and so the dog obeyed her command, lapping at her soles again.