In nearly every respect, horses are more impressive than goats. Yet we humans have to study and practice, often for years, before we can communicate effectively with horses. We feel greatly honored if horses "join up" and follow us for a few strides without halter or lead.
It seems to me that horses merely condescend to include us in their social circles, at least until they tire of us--or the pasture gate is opened.
Goats, on the other hand, must be fenced away from humans. Given their druthers, kindly-treated goats would take up residence on our front porches--or sofas, if the doors weren't latched properly. Although we've never attended goat-handling workshops or studied caprine psychology, they bond to us quickly and follow us sincerely, sometimes even enthusiastically.
Horses might allow us certain herd privileges, but goats count us part of the family.