At least for cats and dogs, part of the explanation is simply that we’ve kept and bred them as pets for a long time. Them being predators made them useful as a pet, as you could take dogs out for hunting and cats became useful when we started doing agriculture, where they could independently hunt the rodents on the fields and in our storage rooms.
Fucking hell, man, with how many very publicly visible security problems they had last year, you’d think the stakeholders would be on board with doing security for a bit.