We have both, but I like the company of dogs better. Cats are just so damn aloof and anti-authoritarian. “You don’t want me to walk up here on the counter? I’ll do it anyway. Nah-nah-nanny-boo-boo.”
Not if you take the time to really train them from kittenhood. My last cat, a big tough tom, was so good. If he started giving the table or the countertops the eye, all I had to do was make eye contact with him and say firmly, but not loudly, "No." And he would cease and desist.
Oh that is soooo true! The ONE rule I have for them they MUST NOT obey!