Yes, they can. Most animals can, but only in single figures (and quantities at that) and are also able to make rudimentary comparisons of size. These are basic competences that help, in the wild, in dealing with food, predators and the search for a mate. In the laboratory, similar skills can be taught, albeit at the expense of time and patience.
But the book's stodgy, rather plodding in its approach. It looks at animals group by group - mammals, birds, fish and so on - which makes it repetitive and predictable. It might have been better to structure it by competences: counting, comparisons and so forth, ending with the simply astonishing feats of navigation and direction found in ants, bees and birds.