This is interesting to me because back when I was a teenager/early 20s, I had very clear lucid dreams that I felt very conscience about. In them I flew around alot through willing myself - it felt so real! Anyway, one time I had one of these dreams, except in it I was followed around and observered by 3 females (beings). They said nothing for some time, until I finally decided to address them. I can't recall everything said, but I gleaned what I thought was most important and it seems to relate, in some way, to your own experience.
Two of them identified themselves, one as The Protector, and the other as The Philosopher. The third said nothing, but appeared just as significant as the other two. I always found it odd that the third one never identified themself. All three tended to stare at me with very bright light blue eyes the whole time.
Quite an interesting experience, one I cherish. I, too, believe these are my spirit guides, who are not animals either. I find it interesting the similarities with your own.

Cheers!
macamhaoilein