You're relatively safe. Since 1911 there have been 65 or less reports of humans with Bordetella B. - chances of cross species contamination are extremely low.

According to a published study, in Clinical Microbial Review (American Society of Microbiology) "(to) summarize the literature about the current microbiological status of B. bronchiseptica, the pathology and pathogenic mechanisms associated with the microorganism, and the likelihood of it acting as a commensal or colonizer. From this review we conclude that B. bronchiseptica has been rarely isolated from humans despite their considerable exposure to animal sources. Evidence suggests that B. bronchiseptica may be rarely encountered as a commensal or colonizer of the respiratory tract of humans and rarely in association with infection"

Obviously I'd take precautions such as regular handwashing after touching your companion and avoiding doggy kisses, but both of you should be fine.