They do.
Apple sends emails when a login to your account is performed from a new device or un-trusted web browser.
It does not send emails for failed attempts or logins through trusted devices or web browsers.
If you are using Two-Factor Authentication it largely precludes the possibility of someone else logging in as a code sent to an already logged in and trusted device or a previously added trusted phone number is required to complete the log in process.
This code appears on trusted devices as a notification or as an SMS or voice call to trusteed phone numbers so can also be considered a record.
Who logged in, is impossible to know, as identification is not ascertained during log in. Apple will not ask your name before login to know who is logging in.