Are we more closely related to cats or dogs?

A man with a beard wearing a brown shirt looks down at the dog and cat in his lap while a woman with long brown hair watches. The dog is a young blond puppy and the cat is a brown tabby kitten.

They sleep on our beds, steal our food, and generally rule the house. Between them, cats and dogs make up two-thirds of pet ownership worldwide. But which of the two companion animals are we more closely related to?

The answer depends on how you look at the question.