All those animals were domesticated for very different reasons. I've spent a lot of time with horses, my family had three, and they're great animals - but they don't come anywhere close to dogs when it comes to trust and the ability to read people. I've seen dogs trained with nothing more than praise - the desire to please is that strong for them. That doesn't work for horses.
I've owned horses too. It depends on what you want them to do. If you want to jump on their back and ride them around, sure. I don't do that personally, and while they don't read you like a dog can I've taken unsocialized "mean" horses and turned them into friendly companion horses with nothing but patience and the occasional cookie or carrot.