Dogs. They actually interact with you, unlike cats which ignore you (unless they want to bite you).
I've had 2 dogs in the family, both Westies. The 1st died because we left it with my grandmother who let the dog outside and she chased a squirrel into the street and got hit by a car. My grandmother was too old to yell at the dog to get her to stop. The second is still living with my parents.