Intelligence is the ability to have an internal world model then run simulations on that model to choose an optimal course of action. This is true for humans down to flies. Most of what humans do is still the boring innate stuff; it's just that fancy abstract things like "skydiving" get the most attention.

Clearly other animals have "phenomenological experience" i.e. consciousness / qualia without being as intelligent as humans (or necessarily "self aware"). Many people believe consciousness is simply a side effect of intelligence rather than the other way around.