Leg lifting for urination is about marking. It is covering a scent of another dog which is higher up and off the ground (on a tree, fire hydrant, etc). Your dog may or may not be a "marker" and may or may not ever lift his leg to pee. Depends on the dog and how we react to such behavior.
Femals will also lift their leg to mark. My Maggie lifts her leg to most any pole or tree that some other dog has peed on. She's such a little "Magic Marker"!
Don't worry about it. Frankly, I hate it that Maggie lifts her leg to pee, but she's a dog and that's who she is so, I allow her. As long as she isn't lifting her leg on ME or something inappropriate.