"Paradise is open to all of God’s creatures," he told the boy, whose dog died recently.
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“One day, we will see our animals again in the eternity of Christ,” said the leader of the Catholic Church, according to Italian news sources.
The Pope made the comments at a weekly general audience at the Vatican.
Pope Francis has consistently made headlines with sometimes controversial remarks after assuming the papacy in 2013.
The 77-year-old has adopted more liberal positions than his predecessor, Pope Benedict XVI, stirring up tensions with conservative Catholics on issues such as homosexuality and single motherhood.
Francis's papal name comes from St. Francis of Assisi, the church's patron saint of animals and the ecology.