For me, the difference between cats and dogs is that cats will tread anywhere in a house, low, high, it doesn't matter; dogs can be trained to stay off the furniture.
Cats are okay, never had a problem with them. But I'm a dog guy. Years ago, there were two dogs in the family that were horrible dogs, not mean, just bad mannered. They received no discipline and had no rules; they loved jumping all over you and I hated that. Now my mutt had rules. One major rule came from Mom: No dogs on the furniture! My dog never slept in a bed with anyone, either. She still received plenty of attention and was not deprived. But she knew her place, and it was on the floor. I don't think an hour would go by that she wouldn't mosey over to me as if to say, 'Hey, I'm being ignored here!'
I know cats can be trained, but I find training dogs easier and a little more permanent. And I'd rather clean up dog shyt in one corner of the yard than have kitty litter boxes in the house.
IDP, as for pets living outdoors, I've read an outdoor cat's lifespan is around half of an indoor cat (about 7 years versus about 12-15 years. I have no idea the difference for dogs as most dogs are not allowed to run around outdoors like cats. I also appreciate the affection with which a dog slobbers one; they aren't shy about showing affection -- and often. And for a picky eater kid, having a dog 'food disposal unit' for food one hates is a real plus; if food came from the human table, she'd eat it. And she wouldn't beg; she'd just sit and stare and make you feel guilty.
Oh, and alarm cats just don't cut it. But a good bark will give a criminal second thoughts.