We had a dog who died a couple of years ago, and he was the greatest dog ever. I was very upset when he died. At the same time, I haven't been eager to get another because they also come with a lot of hassle, mess, smell, cost, etc., and in 10-15 years you have to go through all the grieving again.
So while my dog gave emotional support, it didn't reach the level of necessity for me.