Child wonderers if animals go to heaven

Will my pet be with me in heaven? I'm really sad right now because my dog just died. We've had the same dog ever since I was a little kid, and I can't even imagine life without him. I asked my mom if I'd see him in heaven and she told me to go ask my Sunday school teacher. I asked my Sunday school teacher and he said no, heaven is for people, not animals. That really upset me. Do you think my Sunday school teacher is right?