Lillie ... you said it perfectly!
There are many dogs in my neighbourhood, and without fail it's always the little ones that come running up to Kyleigh and I.
It took a lot of training, and teaching Ky to focus on me, not the other dog, but now Ky just looks from me to the yappy dog and back to me, and I swear there's an eye roll ...
I did the same thing ... put her in a sit, stood in front of her, and prevented the other dog from getting near her. All in a CALM manner. I didn't scream, yell, or flail around. Once the dog started to leave, Kyleigh and I would proceed to walk again. If the dog came back I'd face it and say LEAVE and point to the house. By this time the owner is usually out, all apologetic (yeah, whatever, it's NOT the first time fluffy has left the front step) ... and we just continue walking.
Bigger dogs - I've only encountered a couple of them, and while they've been off leash running up to us, none of them were barking / charging, etc. They were just big galoots coming up to say hi. I was still wary and kept my eye on them, but had no issues ... and Kyleigh wasn't frightened and didn't react.
Marion’s Zoo-Kyleigh, Raylan-cat, Echo-TAG,