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I would suggest going back to the house in question and telling the owner that their dogs "Threatened" your group. They might then take whatever actions are necessary to keep the dogs under control in the future.
It is a good idea to notify the police or animal control in case the owner doesn't take care of the situation.
As for how you handled the situation, it worked and no harm was done.
I take your description of the attitude of the dogs at face value because I wasn't there.
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