I can tell you with no reservation that your companion animal will be there in heaven with you. I can’t add to much to that but what God told me. Yes, you will see your loved one in a different form but like a angel none the less. In fact just like in Eden there will be communication. Who you loved on earth as not a pet but much much more no matter what it was, will join you in forever. For those that that love their animals like a child you’ll understand:) Don’t ever limit God and what He is. Heaven will be beyond awesome.
Most will not comprehend or know what God means when a angel came into their life, What form it took needs no explanation. Next time your dog dreams you’ll get it as it kicks you in bed or has a bad or good dream.