He is expressing the best he knows how to communicate. You can introduce more words with movements to model this with him. Sometimes, when we say, "No", they do not understand just the word.
Just like when your child has done something wonderful. He see's in his eyes, the faces of smiles; the wonderful tones; maybe some clapping and would hear the repetive words of, "Good Job, Henry", "Good Boy, Henry"."
When it is a behavior that it is not accepted. You may shake your head; put your finger in front of your face waving - no, no; and your tone would be normal; and would hear the repetive words of, "Henry, that's not nice."; "Henry, Come Here."
By getting used in the habit of getting his attention by his name, and having the words and body language is all positive communication that he will model by you. These will become habits and will be useful, as he also enters the world of preschool.
I also see that you have a 2yr old golden retriever. Much like giving commands and repetive training. They're both in development. Good luck!