Dogs are common domestic animals, that are often kept as pets.
King Zøg is known to use dogs to clean himself. It is inferred once is an average wash, but if he is trying to look presentable, he will have them do a second go-over.
Bunty "can't keep a dog alive" due to her hidden rage, implying she has violently killed a few dogs before. Bunty also recalled how one of her daughters was mauled to death by a pack of dogs.
Some dogs are more anthropomorphic than others; once when Princess Bean, Elfo, and Luci were walking through the city streets, they passed by a group of dogs playing a game of poker (an obvious visual reference to the Dogs Playing Poker paintings).