This is interesting to me. I don't believe your choice of words was too abrupt per se, it was the fact that you felt the need to pre-empt what you imagined could be a problem that gave rise to that whole thing.
What if you had just let your dog come over as you'd simply intended? If there was going to be a problem it would quickly become obvious and then the two of you would work out how best to deal with it. The fact that you felt the need to ask a question that he couldn't really have known the answer to, created the possibility of being so misunderstood that he didn't even allow you to finish your sentence.
Is the spontaneous imagining of what you think might take place and saying something about it an autistic response, or is it merely a weird misunderstanding arising out of the need to say anything about the future at all?
EDIT - Additional bit...
Your example reveals that while in 99/100 similar situations, you would have been able to complete your sentence and he would have understood what you’d meant without making any assumption that you were being confrontational, feeling that you were expecting him to do something about the barking because it was bothering you, makes me think that saying anything in those kind of moments isn't necessary at all.
While it may have been the problem you had envisaged after all, and most people would probably have thought exactly the same way as you, so most reasonable in predicting it as a possibility, it reveals how fast your mind works and how much that puts you into the future, and while that does happen to me, where I say something too soon, the realisation that nothing actually needed to be said, is quite a powerful one.
You might say that in my case, I tend to go the other way, so that I don't say a word when actually I really should. I let everything happen in whatever way it's going to and just deal with what takes place as a result, rather than being a few steps ahead and doing something about a future that does not yet exist.
It may definitely be right to say something sometimes, but there are enough occasions where I realise there was no need to, so I have made it my practice to step back. In other words to observe the situation and be in the actual present, rather than in my mind's creative idea of what the future is going to be, even if it's literally just moments from now. I suppose it's all about what does it mean to be in the truly actually really present moment?