Would you agree that a cat or dog can love a human in the same way humans can love in a non-romantic sense?

No, I wouldn't. Humans are creatures with language and thought, and these features of our life permeate our loving. Dogs lack language and thought (in anything like the sense in which humans possess these), and so whatever it is that they are doing, it's not loving in the sense that we do this. Harder to answer is whether we love dogs in anything like the way in which we love another person.

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