Holy cow, pretty scary! I'd be crapping my drawers. The way your cats and dogs reacted, they knew a presence was in your home. Animals are good at sensing that stuff, and can probably smell it too.
Hopefully, this presence won't manifest itself again. I believe it thought it could intimidate you. But when you started looking around, you were telling it that you weren't to be messed with.
Hopefully, this presence won't manifest itself again. I believe it thought it could intimidate you. But when you started looking around, you were telling it that you weren't to be messed with.