I deal with the dog issue. Every year I say that I'm going to train my dog to pee on the rocks, but I never follow through. So I would say your first and best option is to train them to go elsewhere. The grass is less likely to burn the sooner you get water on it so you could water down the spot your dogs pee on right after, but that's labor intensive. I also previously tried to have my grass water for like a short amount of time throughout the day to make sure that areas with urine were diluted.... but I wouldn't recommend that from a healthy lawn standpoint. Finally, you can read about dietary changes to alter your dogs' urine, but I don't think they really work, nor would I change my dog's diet just to reduce burn spots on the lawn.