Service dog vs. therapy dog vs. emotional support animal — what's the difference?

Individually trained to perform tasks for one handler with a disability. Requires extensive task training and rock-solid public access behavior. Works for its handler.

Trained and temperament-tested to visit other people — hospitals, schools, libraries, care facilities — with its handler. Works for the people being visited, and visits by invitation of the facility.

Provides comfort by its presence. No task training is required and no specialized training standard applies, which also means far fewer access rights than a service dog.

Every one of them is a better companion with solid obedience. That is the common foundation regardless of the path you choose.