You should never intentionally torture an animal. However, I'm all for killing ants, spiders, roaches, rodents, and such "pests". But doing so purely for pleasure will warp you in ways you don't want.
As for "torturing" without really meaning to, and wishing you could stop: Always set your mind to the scale of the particular animal. For instance, I have a medium-sized parrot (about 1 pound). They're supposed to live for 60 years, yet they are very fragile, compared to dogs and cats. So I have to be careful at all times around it. Sometimes it'll peck my finger as what I would call a "negative communication". Neither an attempt to injure me, nor a hateful gesture -- just "I'm currently displeased with you." (Parrots are very complex both mentally and emotionally, and their communications have a very wide and sophisticated range.) I find that, when I "peck" back at her beak with the hand she pecked, and do it in the way and amount of force that parrots normally use, this of course doesn't hurt her, OR even annoy her really. She simply accepts and understands my "communication" back to her.
So, long story short, always interact with animals on their scale. Don't hug a dog as hard as you'd hug a person. Many dogs (probably males more than females) like to rough-house, and play and jump around you in a rowdy way, and it's easy for humans -- especially children -- to accidentally use to much strength with them. Of course, the smaller the pet (as in my case), the less safe physical interaction is for it, so that's one thing I miss about no longer having a dog. (My ex took him, but that's okay.)
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Christianity is different than Judaism only in people's minds -- not in the Bible.