After one of my first Goldens passed, my brother asked our pastor that exact question. He was a very wise elderly pastor with many years of ministry under his belt. His response was profound....

"David (my brothers name), Jesus tells us he has gone to prepare a place for us. We are told it is magnificent and will bring us great joy. There will be no more pain, suffering or sorrow. Knowing this, if you need your pets in heaven to be happy, they will be there."

He didn't actually say yes or no but he did say we will be filled with joy. I personally believe I will need my pets there with me. They are such a major part of me here and they do give me GREAT JOY!