I'm stunned that there are pet owners who DON'T know how to tell if a dog is upset, or if a child is doing something inappropriate. How hard is it to put yourself in the dog's shoes? I wouldn't want my ears pulled, or someone heavy climbing all over me. I wouldn't want cuddling all the time, either.
My DS is a year old. My dog always has somewhere to escape to where he cannot follow, and the contact they do have is supervised properly - i.e. any inappropriate actions are stopped and he's told 'NO'. My dog feels I'll protect her as needed, and my child learns that she isn't a toy, that she has feelings and a right to be left alone if she chooses. I don't let him take her toys, either. My parents brought me up to treat all animals with respect, and I plan to do likewise.
As an aside, 5 year old children and older are at that stage where a dog won't see them as a baby any more. That's significant regarding bite injuries, because in dog behaviour, pups are allowed to climb over and generally do what they like, to adults in their pack. As soon as they start to grow up though, things change, and they are sharply told to get some manners. So just because your dog tolerates your toddler, doesn't mean he/she will tolerate the same once your child gets a little older.