In my home in the Philippines I have 3 dogs and a cat (Pepsi). They get along very well, and also fight at times, just like with human siblings. Sometimes it is too funny to watch them "bickering" at each other.
Other times, they pile on top of each other while sleeping.
I love to watch dogs and cats interacting. The love/hate relationship is just like in any human family. My cats are absolutely terrified of any big dog coming around, but bring a tiny one and they are curious and interested.