Eh, if I trip over one of my dogs, I blame it for laying in the middle of the hallway. I demand an apology from it.
But I do so in a friendly or playful tone of voice, which is of course more important than the actual words used.
I apologize to my dog. I say please and thank you to my dog. I ask my dog if he’s feeling okay.
I should point out that my dog is deaf.
That’s lovely Kent. I do worry about our critters. I’m unfortunately having to stay 100 miles away from home about a week a month. We have two dogs. I take one and my wife has the other.
The dog I have ‘Jax’ is maybe a little confused. He misses home as I do. He’s not wanting to eat. I went to the store this morning to get him some canned food because he did not want to eat his regular stuff.
This happens when ever I take him away from home. But this also helps my wife and I who are both very busy right now.
I don’t have a dog, so I apologize to the cat.
Yes I absolutely apologize to my dogs! My girl tends to follow me too closely and gets bonked in the head a lot. She needs a lot of apologies from me and my wayward feet.
I also apologize for bad weather and for fireworks. I assure them that I’m trying to fix it.
“Beg pawdon.”
Do I apologize to my dog?
Not if I’m right and he’s wrong! What did that bastard tell you?!
ETA: Yeah, I do, if I step on a paw or something. I find an apology for a pet is best expressed by getting down low and kind of looking up at them while you express your remorse in a soothing tone. Animals don’t go for insincerity.
Excellent 
Lots of love for the canines who live amongst us I see… 
I do, like for an accidental paw step-on or other things. Dogs understand more than we think.