I sort of always assume that animals are not allowed, no sign posted or not. It's kind of like the "no shoes, no shirt, no service" rule in my book. It isn't posted, but you wouldn't go into a store topless
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I am guilty of bringing Mckenzie into a store or two with me like Jo Anns or Marshalls if I am just running in and out and I've never had a problem, but if they asked me to leave I would understand.
If I need to take her somewhere I always call ahead and ask (except for the few times I've run in places).
It stinks we can't take our babies everywhere, but really if they let one person do it... they need to let others do it. I was in Jo Anns the other night and a woman had her dog riding along in the shopping cart. Now to me, this was fine. I ooh'd and aah'd.... but I could see how to others that would be unacceptable. Not everyone is a dog person.
I'm sorry if you were treated rudely, but they were probably just trying to do their job. It's sad but many people don't have a high customer service level, or he may have had a bad day and have not explained himself well.