I feel that dogs are domisticated animals and do belong amongst human beings.
however, they are unclean and should not live within one's home. However, that's not to say that one cannot own a dog, build a dog house and let it live outside.
secondly, besides guard dogs, I do believe it should be permissable to have a dog within one's home if one were blind or deaf or depressed clinically and having the dog around save the person's livlihood.