I've spent a lot of time with coyotes but never was afraid of them. I do keep my dog away from them and I wouldn't hesitate to kill a coyote to protect my dog, but I like coyotes. Generally I do not have my dog camping with me, so I don't worry but rather I enjoy hearing them howl.
Jim
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These are my own opinions based on wisdom earned through many wrong decisions. Your mileage may vary.