I was actually annoyed by this, as my horse kept spamming the listen to interactions on all the Sims of my household even though his social need was in fact already excellent, the horse even kept coming into my Sims' home even though the doors were locked for him. So I modded it out. It's my game so I want to decide the interactions I do with my horse (plus the listen to interaction is also not fun to watch as a player).
Anyone interested might download the mod here:
https://www.seebee.de/sims4me/index.php?list=35#