Yes. In most cases, you can only care for pets you already have hands-on experience looking after independently.
It doesn’t matter where that experience comes from: caring for your own iguana, regularly looking after a friend’s cats, or working professionally with raccoons all count, as long as you were personally responsible for the animal and its care.
Experience with a family pet may not always be enough if the responsibility was shared, for example, if you helped care for a dog as a child but weren’t the person primarily responsible for them.