I almost never mind as long as they are well-behaved. Just like kids. If your dog or your kid is making noise and stinking up the place, I don't much like it. Otherwise, why would I care? They're cute and funny (dogs moreso than kids), and they have shared human spaces for thousands of years.
I purposely live in places that are pretty lax about stuff like that, and one of the things I liked least about Silicon Valley is how horribly dog-hostile the housing market there is, though once you've got housing, there are, at least a few patio-equipped restaurants and coffee shops that are dog-friendly (not on par with an actual dog-friendly city like Austin, but liveable).
I purposely live in places that are pretty lax about stuff like that, and one of the things I liked least about Silicon Valley is how horribly dog-hostile the housing market there is, though once you've got housing, there are, at least a few patio-equipped restaurants and coffee shops that are dog-friendly (not on par with an actual dog-friendly city like Austin, but liveable).