It's true, they are a lot of work. There are the walks every morning and night, the aspirin administered daily to old timer Spreckles, and the occasional accidents on my hardwood floors. However, the unconditional love they give and the fun they add to our lives is beyond measure.
Prints such as subtle florals, stripes, checks, or tone on tone fabrics hide pet hair, spots, and stains better than solid fabrics. Textured fabrics such as washed chenille's repel them better than smooth or polished cottons. Mohair's and velvets will repel stains and dirt but pet hair sticks to them like Velcro.
My cats have always been on the furniture and my dogs on beds on the floor. Riley my two year old adopted cocker spaniel didn't learn this rule early on and I've tried in vain to teach him. He has claimed my master bedroom reading armchair and prefers it especially when I've been courteous enough to warm it for him.
There are many tricks for containing and controlling pets indoors. One of my own rules is that my pets live indoors with the family. When I'm away for more than a few hours, I have gates for closing them off in the kitchen where the floor is pet friendly...just in case. I've built an outdoor dog run off the main patio where they can spend the afternoon when the weather is mild. It's shaded and cool in our hot California summers.
Upholstery can often be professionally cleaned on site by a professional carpet cleaner or drapery cleaner. A word of warning here: If the fabric is older than 4 years, have them do a spot test. The little welts on the back and arms are prone to fraying.