Antonio, пёс is used when you want to particularly emphasize that your dog is "a boy"!
The word собака is grammatically feminine, but can be used either:
(a) about a female dog
or
(b) about a dog whose gender/sex is not known to the speaker.
The word сука means "a definitely female dog" (and cannot be used for a dog of unknown gender) -- but, just like the English bitch, nowadays it is "used politely only by professional dog-breeders."