Compare the following two objects in the form of a sentence.
Cat and dog
A cat and a dog, although both beloved household pets, differ in several ways, including their physical appearance, vocalization, behavior, and interaction with humans.
Complete the following task based on the instruction and optional input provided.### Instruction:
Compare the following two objects in the form of a sentence.

### Input:
Cat and dog

### Output:
A cat and a dog, although both beloved household pets, differ in several ways, including their physical appearance, vocalization, behavior, and interaction with humans.