There is a big difference between service animals and therapy/emotional support animals. Service animals are trained to perform a specific task for persons with disabilities. (seeing eye dogs, seizure assistance dogs, etc) Therapy/emotional support animals offer just that--emotional support. The laws that provide for service animals in regards to being admitted into public establishments do not always extend to therapy/support animals.
Here is a good link about the difference between the two:
http://www.nsarco.com/difference.html