A dog can't speak our language but he can certainly speak. They communicate in many ways mostly using body language (which come to think of it do humans not do 90% of their communicating this way too).
A dog that can easily outrun me in the park (and thus escape) chooses to return to me.
A dog that has his own bed/sofa, chooses to come and sit beside me on my sofa.
A dog that chooses each night to climb up onto my bed and snuggle into me while I sleep rather than sleeping in his own very expensive dog bed.
A dog that brings me a 'present' of his favourite toy to welcome me home.
I can assure you dogs can and do talk very clearly. There is no projection on my part.
They turn their head when they don't want something, they use their ears to communicate and their tails. They growl or bite to communicate.
If you don't know any of these things about how dogs communicate then it's a bit silly to post on a thread like this.
It's quite simple - for people with children, the children are most important.
For people with dogs, the dogs are most important.
Some dogs are annoying (not trained by adult humans). Some children are annoying (not trained by adult humans).
If the cafe allows me and my dog to come in. These yes I'm coming in. My dog will not bother you. If his presence annoys you then feel free to leave. If I have to tolerate your children (which I do quietly because they are entitled to be there) they you can do the same with my dog or leave. We both have to adhere to the same rules and tolerate others that we don't care for.
By the way children most certainly do not have unconditional love for their parents. My parents were most cruel and yes we 'loved' them because we depended on them for our survival and we knew no better. What they told us was 'love' was what we believed. When my mum was dying, 3 of her 4 children refused to care or help her. The fourth did it only cos they got paid. There was no unconditional love from her children.
If you treat you child well it will love you, if you don't it won't. Same with a dog.