I had a ringneck dove before I got my pigeon, I raised him from a chick without caging him, and so I think he was a little more social and was exposed to a wider variety of things in youth so he seemed to be a bit smarter than the average dove. He would come when called for a food reward and learned to navigate the house with no trouble, but I've heard other people say their doves are so dumb as to get stuck in corners! He let you pick him up and liked his wings petted but he spent most of his time doing his own thing and just sort of acted indifferent to people. He was fun. But he wasn't very clever. He was only slightly less messy.
I recommend a pigeon over a dove, but would suggest certain breeds over others. Most people end up with ferals or homers, and these can be loving if you get them young but are more aloof and nervous as a rule than fancy breeds bred for show. I have a German owl and her temperament is ideal, she tamed in a few days and is highly affectionate and so smart it's scary. She is part of the family, not just a pet like my dove was.