Ultimately the answer rests upon knowing several things:
1. Whether having a soul is what gets you into heaven (not saying that you musn't be redeemed, but whether animals will be accorded some place in the new earth.
2. Whether animals have a soul
3. Whether God will create the heaven and new earth with animals that we knew in our life time
I don't think we ever can answer these questions. Certainly animals have some intelligence, they certainly have emotions, and several species seem to have some level of self-awareness (dolphins, elephants, some dogs). These species all grieve over losing other members of their group and some show an understanding of the deceased animal.
Do I dearly wish that I will see my dog again? Of course, who among us with a pet doesn't? The link that we form between animals is astounding! Just thinking about losing her tears me apart (It's fitting, isn't it, that EVERY book about a dog and a boy is the most emotional book you can read about boys, as if that is the one *appropriate* reason for boys and men to cry...oh and the yearling as well....Sounder, Old Yeller, Where the Red Fern Grows, and many others...
I know that a bit tangential, but ain't it so?) It's one of the few times I have seen my dad cry, when we have had to put down our dogs in the past.
I think it's quite fitting, as well, that several of the prison rehab programs that work astoundingly well are the ones that invovles prisoners with animal training and care. Dog training, horse training, it's as if there is a part of human nature that *must* interact with these wonderful creatures. And it's a shame (and I think part of the fall) that so much of these relationships are broken, from not realizing the importance to downright abuse, a part of us as humans is ripped asunder.
So maybe it's wishful thinking that we will see *our* pets...but don't think it's out of line to think that we will be able to form new and much more enriching relationships with animals in the new earth.