Should people have animals as pets?

 Archaeology suggests that people might first have animals, such as dogs and cats, as pets since at least 12,000 years ago.  After a very long period of time, animals that have been consistently kept in captivity and selectively bred became friendly to human, unlike their wild relatives.  However, how can we be certain that pets are really happy when being cared for by people?
    Pets provide their owners with emotional benefits.  They help people cope with anxiety and stress.  Elderly adults who often have less interaction with other people can find companionship with their pets. There are many examples of people who found their purpose in life after being introduced to pets.
    On the other hand, notwithstanding the benefits for human, pets may not really want to be kept in captivity.  As a living creature, shouldn't they be allowed to decide on what they actually want? Shouldn't we allow them to live freely outside and come to our houses whenever they feel like, such as stray cats?
    In conclusion, we will continue to have pets because the ten thousand years of pet culture will not be able to changed easily. Therefore, we should take a good care of our pets and provide them with whatever they need to increase the chance that they will live happily in our house in return for their helps on our emotional health.  "In ancient time, cats were worshipped as gods, they have not forgotten this." - Terry Pratchett.