Is complaining about neighbors due to the harm caused by their dog, and the subsequent removal of the dog from the residence, considered a mistake against the rights of neighborliness that necessitates a guilty conscience?

What you have mentioned does not necessitate a guilty conscience. Rather, you are doing good by repelling harm from yourself and your children, and by assisting in the removal of evil, as your neighbors acquiring dogs without need is wrong. What you have done does not mean severing ties with your neighbors; instead, maintain good relations with them through gifts, help, fulfilling their needs, kind words, and visits.