Yes, You Can is Chorizo's third Amigo ability: petting him restores some of his health. It is a cheap way to keep the little guy in the fight without reviving him.
Walk up to Chorizo and pet him to start his health regenerating. It is a top-up, not a full revive, so use it after a skirmish rather than in the middle of one.
Mainly as a step to Keen Senses. Pet him every time you stop at a base or a camp and the 50 heals come quickly.