I can see both points of view. Christmas can be emotionally very weighted. Especially when people are cooking a meal etc as there is 'pressure to perform' if you know what I mean.
Yes, in hindsight (which is a wonderful thing isn't it?) might have been better to phone beforehand. On the other hand for the people at the door, they might have had the foresight to say kindly:
'lovely to see you folks, oh great see you have got a new friend, (the dog) - but we're not quite kitted out for dogs here this evening - can you pop him back and leave him at home? see you in a minute...'
But, as I've said,hindsight is a wonderful thing.
Personally though, as I love dogs and want one myself and can't really have one - as we live in a flat etc...I'm always glad to see other peoples - so don't quite get their response..it is my bias...I see them as friends. And yes, I know they make mess, but so do kids....
As some have said though, not worth creating long standing resentment about, there are far worse reasons for becoming estranged from someone and I'm sure you don't want that. Eh
all best
painting