Dogs welcome or not?

Love this place!  Go frequently. However, we are responsible dog owners, and today we met an annoying host. Hovering and following us around pointing out poison oak "dont let your dog near the bushes" (ok thanks for the concern). Far end of park entering beach "dogs not allowed on beach" (oh I honestly did not see that sign- day visitor only). Asked if boardwalk is ok "well I guess so "  Inconsistent signage and rules. Are dogs welcome or not? Understandable dont want poop on the beach and the risk of those who wont pick up poop. But, lots of signs saying "dogs on leash." Not enjoyable today, noisy kids and noisy guest slamming dumpster lids and talking loudly. But. the quiet dog on the leash with poop bags at far end of park, was a problem.