Do we say "Who's a good boy? Xyz is a good boy!" Only to pets. I'm embarrassed because I said this to a child and I don't if we say it only to animals/ dogs.

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Yes you would only say those phrases when referring to a pet such as a dog or cat. You would not say that to children

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Only to pets. It is a funny situation because I can imagine the thought process afterwards. But no worry mate. We live and we learn. At least you can laugh about it.

Have a good day!

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We say this to children all the time.
It is funny, but fine.

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Here in the Uk we use it with children too!
“Can you eat with your fork, please? Thank you, you’re a good boy/girl”