They are our faithful companions and as you say, they choose us as their servants, it is hard to lose a being that we love so much and who keeps us so much company, you have my full support in this unfortunate time. An animal never replaces the affection that a person gives us, but it is true that the affection they give us is always for the time they have to live and will always go with us.
May the earth be light and encourage you and your family only since death is the one moment that everyone is the same, it arrives and there is no possible solution.