well, IMHO a person entering heaven will be rewarded for believing in GOD.
Part of that reward can be seeing your beloved companions.
Animals cannot enter heaven on their own, but maybe by the reqest of the person.
But who knows???
**for believing in GOD.**
I can believe in God, and disobey the commandments or be mean to my kids or neighbor.
How about
Love God with your whole strength, your whole heart, your whole mind and your whole body.
Love your neighbor as yourself.