If I thought my dogs would nuzzle someone, bark, lick or jump at someone in a restaurant, I wouldn't take them. I don't think that's acceptable at all. That isn't a well behaved dog, that's an over excited, unsocialised dog and perhaps should have a bit more training before going into a restaurant. But when they sit under the table, don't beg, and simply have a nap I really don't see the problem.
People have a strange misconception that dogs are dirty, mine certainly aren't. And they certainly aren't a health hazard! If dogs were a health hazard why on earth would we have them in our homes?
Whilst I respect some people aren't dog people, if the restaurant allows dogs in, then in my eyes it's better for it. If you don't like it, eat elsewhere.