For those who say we, as different species, coexist and must share our space, etc
From a biological point of view, dogs are wolves, hence predators. The natural reaction to a predator by their prey (guess who) is of fight, fright or flight. We have domesticated dogs by assuming an unnatural role of leaders of their pack. That's fine and that's why dog owners feel in control and mostly trust their dogs.
We, however, tend not to be comfortable sharing our space with predators, and non-dog owners are less comfortable.
We don't like sharing space with mice and rats, although some people have them and love them.
Children in particularly see a predator. Dogs look much bigger to them.
My son, for example, was scared of anything running towards him. It included cars, waves, even other children and dogs. He wanted a cat because "they ran from him" (ironic...)
Dogs, throughout history have mostly been work animals. Guard dogs, sheep dogs, hunting dogs, transport dogs. Ok for their pack leader, but not necessarily for everyone else. As cute and harmless as they mostly are, there is an increasing "intrusion" of dogs in our normal lives, with increasing numbers of dogs as pets. It's not surprising that coexisting is not easy.
My point is that although for some people their dogs are almost family and they trust them, it's still a predator that makes some people uncomfortable and having that in mind might make things easier on all parts.