I definitely prefer dogs. Because they are loyal, active. They run around you. They are more like your little child. They are pleased to see you. If you are in a time of need, a dog may save your life. But you have to take them out for a walk and to feed them. If they stay in a house for a log period of time, they will get irritated easily.
On the other hand, Cats seem to be independent, clean, and like humans. They can find their own food, they walk themselves. I doubt they did not have the thought as a pet, just as human`s friend.