It's a tradeoff. Personally, I have no problem with well-behaved pets in a store or restaurant. I know people who do (even though they don't have allergies). I think it's fair to say that some subset of the US population believes that pets shouldn't be allowed in restaurants (at least inside) and that is what laws generally reflect. The US has one set of standards; France has another.

US airlines do allow certain pets to travel in cabins with their humans. Nor do airlines etc. routinely ban all foods to which someone may be allergic.