I unfortunately try to avoid responsibility so much that despite my love for animals I'll never have one myself.
Why do you think having a pet is such a big responsibility?
It would cost me too much to take care for them.
The fact that you know you aren't capable of properly caring for your own pet is a good thing, because pets require a lot of work. Maybe one day you'll be responsible enough to have one, but for now you can volunteer at a shelter if you want to interact with animals.
I enjoy the animals more when I'm not responsible for them.
It's really okay to do that, and I'm happy you know your boundaries in caring for an animal. I'm sure all the animals you play with now are happy as they are to see you! I hope when you're ready to have your own animal, you can finally give it all the love and care you can.