Every time there is a family event, we try to. Most of my family enjoy the company of a smaller dog that they can carry. They find smaller dogs cuter than bigger dogs; even less 'gross'. My dog is a large Pitbull/Black Lab mix. So every time we bring him, he may have fun with us and with the nature around him, but no one would pay attention to him. So we've stopped bringing him to family events. Plus, he's slightly dog aggressive, so I can understand when they don't want him by their dogs, but still. It doesn't mean you make him an outcast. *shrugs*
However, dog-friendly outings, we for sure bring him to. When we feel like taking a walk on the hills or beach, we'll bring him along. Or even if we are going out to eat and there's an outside patio, he's there. We dislike leaving him at home and he dislikes being at home, so it's a win-win situation!