My Yorkie is 8.0 pounds, not very small, but I have to constantly worry about the numerous big off-leash, unattended dogs in my neighborhood.
In fact, Maximo is out of sorts because we can no longer "scoop the loop" as we have done every day (except blizzard day) since he was barely 4 months old. After his neuter, I carried him around the loop for 2 weeks. He lives for his walks and I believe he felt a sense of accomplishment going around the loop. Now we go back and forth to avoid certain houses and doesn't seem to have the same sense of purpose.
I also take him other places to walk, but he likes to do his morning walk in the neighborhood.
I sympathize with those of you who have multiple Yorkies and can't pick them all up when you encounter a threat.