I have 3 cats and a dog. IMO, dogs are best. None of your cats give a shit whether you live or die (nor mine), as long as you feed them and stroke them on their terms.
Not true of dogs; they're endlessly loyal and don't judge you in any way whatsoever. Your dog would lay down its life to protect you - show me a cat that would even bother to lift its head if you were being attacked!
Admittedly, I could do without mine rolling in fox and badger poo, or eating disgusting rotting animal carcasses, but you have to take the rough with the smooth!