Communication - Animal Cruelty?

I’m watching a doggie date between two normally solo dogs and I’m wondering: If animals can communicate with each other is it cruel to not let them by having just one of your furry friends and not taking them out to hang with other furry friends often? …Wouldn’t you go crazy not being able to converse with anyone? But, since animals can’t communicate with us, we don’t know if our friends best friend will be… their best friend.

It’s just a thought I’m having. Wondering what the best is for them.