Hot dogs are already cooked so all you really need to do is boil the hot dogs enough to heat them up.
Once you get the water boiling in the pan then you can place the hot dogs in the boiling water and allow the hot dogs to boil in that hot water for 2 to 4 minutes.
You can boil them longer if you like but usually 4 minutes is enough to boil the hot dogs.
Either way you're just basically heating the hot dogs up so they are done when you think they are warmed up enough for you.
I usually boil hot dogs for 4 minutes which is good enough for me.
You'll know when the hot dogs are done boiling enough when the boiled hot dogs float.