The cat's bell rings faintly as she creeps into the room. The dogs are asleep under the covers; they don't seem to stir. She hops up on the foot of the bed and I can see a faint glow of white in the darkness. She sits there for a while watching. Naturally she is afraid of the dogs. They usually chase her off the bed if she tries to get up. This time she creeps slowly on to the bed and settles in a little ball near the end. She just wants to be with everyone, even if she's a bit afraid. It is touching.
Domestic animals are funny. We really have no way to understand their conscious experience. It makes it difficult to communicate with them. The best we can do is chart their behaviors and manipulate them accordingly with collars, leashes, food and training. We have these bucking packets of energy that behave completely differently than we would in an environment we've generated.
I'd like everyone to get along without chasing each other off the bed. Or barking at non-existent dangers or whatever else. But unless you condition the animal a certain way as they grow up, the fully developed animal is what you get. The mold is set. And those instincts can never really be controlled anyway. They don't see the world the way we do.
And there's order trying to impose itself on chaos for you. Two disparate systems of logic with one master system of logic of higher complexity trying to control a slave system of logic of lower complexity, but each of them in the end only communicating with each other on broad common channels.