When I was young (likely about 5-9 in 1987-1991) my mom would often read me a hardcover kids book about a dog who wanted to live like a human. He could drive a car and he lived in a mansion.
The cover was a turquoise-shade and on the cover was the dog and the mansion he lived in. It was the size and shape of a Doctor Seuss book and about a similar number of pages.
Likely relevant: we lived in Nova Scotia, Canada and the book was in English.