In short, yes and yes! There is research that has been conducted in this area and the research has found that human-animal interactions can enhance your physical and psychological well-being. For example, if you are under moderate stress interactions with a friendly dog can help lower your blood pressure by anywhere between 20 to 60 points. Additionally, if you have had a heart attack, you are more likely to survive the following year compared to someone who does not own a pet.
In today's society animals are often used in rehabilitation programs in prisons and in rehab units for people recovering from an illness. This is because not only can an animal help a person physically e.g. a guide dog for the visually impaired; but they also provide emotional support and are always there for their owner.
I'm not sure if you have children or not, but you may be also interested to know that children who are brought up with animals can show better nonverbal communication and social competence.