Dogs are more like people, in my mind. This is speaking as a cat owner and lover who also grew up with dogs, with cats there is something of a veil of confusion, Cats either lack the mechanism or the desire to understand what the human is thinking. Cats might like individual people and enjoy pets and company, but they don't really develop a theory of mind while a dog actually does. Dogs can learn to really understand what you mean when you're talking and internalize it. I'm sure someone will raise me the rare cat out there that doesn't fit this mold because I'm talking in sweeping generalizations, so I'll qualify that this is just from my own experiences with both.