Those are therapy dogs. Therapy dogs are specially trained to provide comfort to a person outside of the family. ESA’s are not trained, but provide companionship and comfort to a family member struggling with mental illness or mental distress just by being a pet. Service dogs are individually trained to do work, or provide assistance to a person with a disability.
Therapy dogs and ESA’s are pets. Service dogs are medical equipment. Therapy dogs and ESA’s are limited in the places they are allowed to go. ESA’s are recognized on airplanes and no where else. Therapy dogs might be invited to visit a care home, hospital, library or court room. Key word, invited. Service dog handlers have civil rights to be accompanied by their trained dog in any place the general public can go.
These terms get confused and used interchangeably, when they are different. If you want to train your next dog as a therapy dog, ask a local dog trainer about how to go about it. But use the right term: therapy dog.