Though I like them both, I would have to say dogs. I've never had a cat in my life but I've been around them a lot and have observed their behaviors.
Though they're cute, cats can be really mean and seem to stink up the house. Don't get me wrong though, I have met some very affectionate cats who are fairly clean.
As for dogs, I have two. A purebred (more or less you could say, he's afraid of water because he almost drowned as a little puppy in a pool
) black Lab named Rocco and a Chihuahua mix named Bella, who I found as a stray and rescued. They're really sweet and love to see me, play, and cuddle. And contrary to a lot of non-dog owner's beliefs, mine don't poop and pee in the house normally, (for all of the 9 years Rocco has lived, he has NEVER been to the bathroom in the house and always scratches and whines at the door. He's well trained) they don't bark all night, and they don't cause terror in the chicken coop. They're friendly, and if there is some sort of 'intruder' they'll let us know.
But everyone is entitled to their own opinion; this is just my two cents.