The dog is entirely Najis - its stool, sweat, and saliva. The vessels and other objects it may stain should be washed with water until it becomes Tahir (ritually pure). As for the saliva in particular, one should wash whatever it comes into contact with seven times with water, one of them with dust or what replaces it, such as soap or any other detergent. This is because the Prophet (peace be upon him) said:
The purification of a vessel belonging to one of you, if a dog licks it, is to wash it seven times, the first of which should be with dust.
Muslim in his Sahih)May Allah grant us success. May peace and blessings be upon our Prophet Muhammad, his family, and Companions.