The phrase "household companion" refers to a pet or animal that lives with a person or family in their home and provides them with companionship, joy, and sometimes support or assistance. Full definition
Millions of us have dogs as household companions or have working dogs that we depend on to get tasks done. (mnn.com)
Eventually, they became household companions, beloved by their masters. (dogbreedanswers.com)
This requires more focused attention on the owner and a better recall than that found in most household companion dogs, and more advanced training than that required for formal obedience. (en.wikipedia.org)