Science Buddies: "Ask an Expert"

Do any non-human animal was demonstrated to understand and value the concept of freedom vs. captivity, or more general: choice, per itself?
So far I found only negative answers. Animals have clear choices, but always choose only practical things, like food, water, companionship, space. If animals are provided good food and care, wild animals will stay in cages voluntarily and more wild animals will try to move in.
There were experiments which demonstrated that animals understand some abstract concepts but not others. What about freedom? So far it looks like zoo animals care about 'right to freedom' not more than a flower cares about growing in a pot.

This is a matter of debate, and does not currently have a clear answer. My google search also suggests animals only care about practicalities, but it does not appear that a true answer has yet been found.