People who love companion animals do not necessarily have to attribute "human" feelings to them to love and care for them, and since we are animals too, there is no reason to believe that self-awareness and emotions are not present in other animals, probably on a spectrum, as with a lot of other biological traits we share with other animals, such as communication, social behavior, etc. In fact the more science looks into it, the more likely it appears that some animals do share emotions in common with humans, basically because they have adaptive value. Emotional awareness may be much more widespread in animals than we know. They may have emotions that are not exactly the same as ours, but a relationship with animals doesn't require that we share the exact same emotions. Even emotions between individual humans are different.
That doesn't mean you can't raise animals for food or eat them. It just means you may be more aware of their capacity to suffer and avoid causing them suffering or buying meat from factory farms where you know animals suffer greatly. I prefer to buy meat from the families I know who raise animals humanely and in the fresh air and on grass. I have a lot of respect for them and others who do this.