I would never bring my pets with me anywhere. Unfortunately, they picked up this bad habit of thinking that all strangers are evil, and they seem to be beyond the point where they will get used to a new person. Granted, they’ll just bark and be scared, but that’s more than I want to deal with when I’m out with friends.
I honestly don’t think I’ve done anything to make them this way, as this never happened with our previous dogs that we raised the same way. But they are small inside dogs, and maybe you have to be more active in socializing those. But we rarely have company, and the last thing any of us is going to do is bring a misbehaving dog to anyone else’s home.
Still, they make good watch dogs: nothing gets by them.