Dogs are very good at communicating with us through non-verbal cues and their eyes can oftentimes speak louder than the loudest bark!
if you find your dog staring at you, and you know that they're not hungry, thirsty or in need of a bathroom break, then chances are your dog is staring at you as a way of letting you know that they'd love to do something with you!
Provide them with a fun game of tug and pull or a nice food puzzle so they can make use of their energy. If you proactively do this throughout the day your dog is more likely to nap instead of staring.