As society moves swiftly towards incorporating an increasing number of social robots for aged care, the need for a deeper understanding of their possibilities and limitations is critical. Social robots interact with humans, providing companionship or human social needs beyond utilitarian or physical service functions. Thorough research is urgently required to understand the possibilities and limitations of companion robots to answer the critical call for guidelines on animal-robot companionship in care contexts. These guidelines will draw together considerations of experts, current research, people experiencing animal-robot companionship, families and other people who interact in these contexts regularly. In achieving this, this study will not only provide guidelines but also contribute to deeper understanding of companionship.