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1. Ask Them
2. Create questionnaires and surveys
3. Conduct focus groups
4. Connect on social media
There is nothing wrong to ask a customer whether he is satisfied with the service provide. this will reveal his feelings.
face expressions tells every thing & if you are handling complaints through emails or phones then their reply tells you they are happy or not , if you are getting good response obviously customer is satisfied.
When he says he is happy. A customer spending his hard earned money will never fake his satisfaction.