Use common sense is what it boils down to. We have a Bichon and a teacup Chihuahua that love to go for rides and socialize. This keeps them friendly and well adjusted.
We never take them to a square when there is any kind of event going on and it is crowded. Most times we will park our golfcart and stay in it with them and listen to the music. People come to us and ask about them and if they can pet them etc.
Once a week our so we will take them for a walk at the boardwalk and look at the turtles and fish and stay maybe 15-20 minutes.
We keep ours on a very short leash and I usually carry "Bambi", our teacup.
Too many times I have seen people bring dogs and not have water for them or have them on too long of a leash.
There are many responsible owners that use good sense but on the other hand there are some real "boneheads" that do not.

p.s If you take a dog somewhere, bring a bag and clean up any mess!