Mako strikes me as more of a dog person, personally. She'd probably go all mushy over a little puppy with floppy ears.

Kaliyo, on the other hand, would want something vicious and dangerous. And she'd find great joy in teaching it to hunt and maul the other companions.

Corso's definitely a dog person.

Vette I'd say is probably a cat person. Plus a little kitten could ride on her head sitting between her lekku.

Even though Jorgan is a cathar, I think he'd probably be a dog person. A good, solid, loyal hound would appeal to him I think.