Does the cat actually judge you when you trip on your bathrobe belt? We can't rule it out.
Science knows a lot more about animal thinking these days, enough to know that we may not rank above animals so much as next to them--think evolutionary bush, not ladder.
Biologist Frans de Waal studies primates and other creatures in his work, and he wrote the book Are We Smart Enough To Know How Smart Animals Are? He provides many examples of animals using their brains well.
We learn more in his visit to The Exchange.