zoonotic transmission (transmission between species) is not seen as serious enough by the CDC to even track it. but for comparative purposes, there are 1-2 deaths from rabies per year in the US (and infection is as likely from rodents as anything). so the burden of proof is on the dog cynics.

in any case, the primary transmission concerns are poop and mucus membrane contact. so again, the main thing you need to do is wash your hands with soap (and don't play with poop or make out with the dog).