Is it annoying for kid(s) to ask to meet your dog?

We only have a cat currently, and my toddler is very interested in dogs when he sees them at the park or in a store. I always want to ask the owner if we (my toddler with my assistance) can meet their dog to give my kiddo the chance to get some time, but I worry it’s annoying for dog owners to be asked that in the middle of whatever they are doing. I would never ask a dog in a vest/obvious service animal. Looking for opinions before I take a social anxiety plunge, thanks!