First, always remember that we're a stranger to every dog and cat we meet, since each one has had different experiences in the past. Some may be afraid of people because they've been teased or hit before; others may have never left the house or met many people. As you can see, there's no way to know the background of an animal we don't know at all. However, we can still approach them without frightening them.
If the cat is a stray with no owner, wait for the cat to make contact with your body first before you try to pet it. Cats show friendliness by rubbing against people and nudging gently with their nose. Wait until the cat shows that kind of behavior toward you. After that, gently touch the cat, lightly scratching under the chin. Importantly, avoid touching the belly, since it's a vulnerable area for cats, and touching it may significantly reduce their trust in you.
For dogs, if the dog is on the ground, slowly crouch down some distance away first. Don't stand over them and lean your face down directly at them. If we lunge toward them, it will inevitably startle and frighten them, which may cause them to become defensive. But if the dog is a small breed being held by their owner, be extra careful -- if we touch them too quickly, we may get bitten, since they often feel that with their owner right there backing them up, they can do whatever they want. It's safer not to touch them directly like that.
Slowly extend your hand -- not really for them to sniff, since they can actually smell us even before they see us. Extending your hand is more to observe their response, and you can call their name, or if you don't know their name, say anything at all in a gentle tone of voice, or use a higher-pitched voice.
If the dog or cat shows no sign of fear, you can slowly move in to touch them at this point. If you have a treat, you might try offering it. If they come to you on their own with a relaxed demeanor, that's fine -- you can pet and play with them without any issue. But I'd say I don't really recommend petting the head the first few times you meet, since many dogs actually don't like having their head touched. Let's just say it's better to pet and touch along the body, but avoid the head and the rear.
As for tail wagging, it doesn't necessarily mean a dog is being friendly or inviting us over. Wagging only indicates that they're paying attention -- whether that's good or bad depends on other accompanying behaviors. If a dog or cat shows these signs, that's a signal telling us we should stop and not get any closer. If we get closer anyway, some may choose to bite in self-defense, while others may choose to freeze -- but freezing isn't good either, because they're still facing unavoidable fear, they just aren't showing a reactive behavior. As for animals that already have narrowed eyes or bared teeth at the corner of their mouth from the start, that's clear -- you shouldn't try to play with them. Many people may have seen online advice saying that if a dog growls out of fear, we shouldn't be afraid, and should stand our ground and challenge their fear -- I don't recommend doing that. Have some sympathy for the animal; sometimes you might just end up getting hurt for nothing.
However, even while playing with an animal we've never met before, even if they seem relaxed, playful, or roll onto their back to let us touch their belly, I'd still like you to keep watching for signs they're showing. And most importantly, if the pet has an owner, don't forget to ask the owner's permission before playing with or touching them.
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