When you're in heaven, you're not going to need the companionship of a pet. Pets do not have souls. They aren't rational. They can't make reasoned choices. They are not made in God's image... And I say this as someone who cherishes his dogs... But heaven? We'll be busy with other things and perfectly happy.
Do your dogs not make the reasoned choice to poop outside?
Animals make reasoned choices all of the time.