Domestic pig fear of humans is common, certainly because a lot of the human interactions are aversive and the current intensive pig husbandry systems do not leave much place for positive interactions. However, the situation may change because the quality of human–animal relationship is being included in many welfare evaluation systems. The development of the relationship with humans involves different sensory channels (acoustic, visual, tactile or chemical). Memory is central in the relationship, and it leads pigs to discriminate and even recognise individual humans. The nature of the relationship matters as it will modulate not only pig health and welfare but also productivity and product quality as well as stockpeople work quality and job satisfaction. Future research aiming at improving the human–pig relationship will have to focus on the pigs’ sensorial capacities and social behaviour, as well as stockperson training.