That dog licking lolly business, sort of thing happens from time to time, its all down to how the humans react. Shouldnt degenerate into a row, so easy for one party to over-react and set the other off with no-one backing down. Any hint of anxiety usually gets transferred to everyone, the dog can smell it, most of us feel it somehow.
Most dogs very friendly, we wouldnt love them as we do if they werent.
I had a non-incident recently when a silly woman had a go at me, gonna report you etc, all because my one dog told off the biggest of her three dogs that were hassling her. No bits, no fur flying, no blood, just noise. Normal dog behaviour.
3:1 usually causes a reaction in dogs and people.
My dog often trots up to people especially grannies, she knows whos good for a treat.