Yes, most dogs go more than once each day. At least once. It can depend on how they are fed. Dogs that get one meal a day usually go once. Dogs that get two, can go twice, three times even.
Exercise helps. Also, apparently canned Pumpkin helps (not the pie filling. Just plain canned pumpkin) A few pieces of apple (cored) will help too.I often give my dog a little treat of small apple pieces.
Watch out that your dog doesn't get bones to eat, or rawhide chews, and that sort of thing because they can cause constipation, and sometimes definite intestinal blockage.
Dry food....make sure it has enough fibre. Also your dog gets plenty of water to drink.
They should yes! you are either not feeding him enough or too much dry food,causing constipation.
A dog should have a bowel movement after every meal if not he could be constipated