Dogs:
Pros: On the whole, very kind toward their humans, some are good watch/guard dogs.
Cons: They're a lot more work than cats, have to be let outside to urinate/dececate so you can't leave them at home alone for any long stretch of time
Cats:
Pros: Much more self-sufficient, most will immediately annihilate a mouse who enters your home, can be left alone for a couple of days as long as they have food, water, a litter box, and scratching post
Cons: Not very friendly on the whole, see their humans as their staff, shouldn't be let outside for safety's sake
On balance, I would take dogs over cats by a slight margin.
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