I grew up with a small dog that I treated like a baby, so I understand fondness for pets, but it never occurred to me to take her everywhere. Now, I have a son with a severe dog and cat allergy. I've become a little sensitive because of relatives who refused to keep their darling dog away from DS since their dog was so "friendly" and made him miserable for two days.
I have no issue with service dogs. They have never tried to approach DS and do not leave their dander on every surface, and regardless, they perform a valuable service and DS can be considerate himself and avoid them. I also have no problem with trained dogs who are used for a wide range of physical, psychological, and emotional issues, for example autism or a vet's PTSD.
I also accept that a private business has every right to make whatever rules they want about pets, assuming they follow food safety regulations. I just ask that everyone with a dog who is not a well-trained service animal to remember businesses have good reasons not to allow pets and be considerate of those with allergies, as I make my kids be considerate of those w/ peanut allergies and not take peanut butter to school.