We sometimes say in English,
Hey kitty come over here.
Do they say,
CatChan iku yo...
We sometimes say in English,
Hey kitty come over here.
Do they say,
CatChan iku yo...
We call our pets by their (nick)names most of the time.
[ The pet's name (+ chan to show extra affection)]、 こっちおいで。([...], kocchi oide.)
You can replace the name with generic terms like 猫ちゃん(neko-chan; kitty) and ワンちゃん(wan-chan; doggy) if you don't know what they are called.
行くよ(iku yo) means "let's go", by the way.