So you love your pets and treat them kindly and with affection, yet you are assuming that your pets behaviour when you do accidentally hurt them is due to an unproven ability to discern that it was an accident rather than simply learned behaviour that you are not a threat and, rather, a boon?
Or you could just watch cats and dogs for a while to see how clearly they understand the difference between friendly play, territorial grandstanding, and all-out war without needing accredited scientific legitimisation.
Assumption is not science.