Just observe animal behavior: calm contented dogs don't talk to each other. Mama dogs don't talk to their puppies. When a cyclist rides by dogs, their prime interest is to defend their territory. Yes, some breeds are calmer & some individuals like to make friends but chances are if one talks to random dogs you're just annoying them & perhaps reinforcing their territorial behavior, making things worse for other cyclists.

Once on tour I stopped at a fence next to a horse farm. A younger horse wanted to come over to the fence to check me out but the dominant horse wouldn't allow it so I left. We can love animals without anthropomorphizing them.