Precisely. It's still a sequel regardless of how much narrative follows on from the previous game and it hardly throws out the series style of gameplay. It's completely natural for people to want things improved on if they are using the same basic system or ask for features they preferred if the sequel feels watered in some aspects of gameplay. Saying that Skyrim is 'its own' game is a cheap deflection of criticism against the game for not improving on its previous iterations.
That said, I'd like to see NPC companions added with some real interactions with the player and aren't simply reduce to "I'm sworn to carry your burdens" repeated over and over.

I'm not so bothered about the lack of dogs. It's the fact they're all the same model (which is an ugly weak looking one) and we're supposed to believe that the ones you can buy or recruit are war dogs? It's a little thing, I know, but I just don't like cheap reuses like that (much like the Mabari in Dragon Age).
Though much worse is the reuse of enemies like Draugr or their dungeons (maybe not as bad to look at as Oblivion forts, but still the same thing over and over).

That alone implies that there should be continuity and improvement over previous entries.