Just like people - every dog is different when it comes to the number of times a day that is “normal” for them. Your dog should poop at least once a day and there should be some consistency in the number of times they poop.
Most dogs eat a fairly consistent diet and therefore should defecate fairly consistently. Many dogs will defecate within a half hour or so after eating a meal. This is a benefit to meal feeding instead of free-feeding your dog - their bathroom habits will be much more predictable. The most important thing when it comes to bathroom habits is that they are consistent. If your dog normally poops two times per day, then if that number changes one day (whether increase or decrease) that could signal an issue and you should contact your veterinarian.