We've got both at our house, and I'm confident in saying that dogs are way better... and here's why: you can train a dog, there is no training a cat. These cats are freakin' monsters. They pretty much own the place. In fact, all but one of our dogs even submit to the cats. Thankfully, my dog, Gotham, who is a great dane, is the alpha animal in the house.
But yeah, the cats are super annoying like 90% of the time. Oh and I'd totally throw my wife's chihuahua in with the cats. That damn dog drives me freakin' bananas!