Presumably, since Lois didn’t seem surprised to see them…then again, Herbert and Mort were the only characters they didn’t accept just randomly walking into their house…
The odd thing about the dog universe is that Brian wasn’t arrested for indecent exposure. All of the other dog-people were fully clothed, yet nobody even noticed that Brian was walking around naked. The human-pets should have also been naked (which neither be hard to animate or the most shocking thing FG’s done).