Do dogs really hate cats?

Its always been my belief that dogs hate cats and cats hate dogs. I believed this until we introduced a kitten to two of our toy poodles. At first, it was sniff and smell time. The kitty pawed at the poodles and vice versa. Within an hour, all three were playing with each other and having a great amount of fun. So, what’s the real story here? Could it be only strange dogs and cats hate each other and not after they get to know each other? Question: do dogs and cats really hate each other?