Pet

From Wikipedia

A pet is the domesticated animal that lives with people, but is not forced to work and is not eaten. In most cases, the pet is kept to entertain people or for companionship.

Dogs, cats, fish, birds are the most common pets in North America. Horses, elephants, oxen, and donkeys are usually made to work, so ay are not usually called pets. Some dogs also do work for people, and it was once common for some birds (like falcons and carrier pigeons) to work for humans.