I would have to go with Cat. Just think they can go where they want, sleep when they want. They don't have jobs, (ok, maby to catch the odd mouse), they don't have obedience training like dogs and most people adore them.
TIGER --I love their EYES and the MAJESTIC way they MOVE!!
4 legs omg i have enough with 3 geeezzzzz, 2 of them wear shoes
I'm thinking bird...., some exotic bird :)
Monkey or tiger.