How to teach a child to respect animals?

My daughter is 2 and whenever she sees a cat or a dog, she pinch it, grab its hair or scare it. I love my daughter but I haaaaaaaaaaaate when she does that, it really upset me. I have tried to explain to her and punish her but nothing works.

How did you taught your children to respect animals (we don;t have animals at home so maybe she doesn't realise it's alive a feel the pain)

Thanks for your help