How to handle toddler's fear of dogs

So my 3 year old is afraid of large dogs. I don't think it's a big deal, I was afraid of them too as a child and I know he will grow out of it. However, we will be visiting someone this week who has a few dogs, two of them being medium size or larger. He is excited to go to this person's house, but he doesn't know about the dogs. I'm planning on talking to him about it before we go, and I'm hoping that will help. But I know that once I tell him there will be dogs he will get very anxious and not want to go. On the other hand, if I don't tell him I know he will end up crying/screaming in the car and not want to get out as soon as he sees the dogs (This will likely still happen even if we discuss the dogs beforehand)

The last time we visited someone with a large dog it got excited and went right up in his face like most dogs do. He was already scared to begin with, but this really freaked my him out. He just screamed until I removed him from the dogs presence, even after the dog was restrained on the other side of the room.

I believe his fear is mostly due to the noises/barking, (he's had sensory issues in the past), their large size, and also their unpredictability. He doesn't know what to expect from them and it makes him uncomfortable. He has this problem with other animals as well.

Any tips on how to help him deal with this? Or at least prevent the screaming?? We can't just avoid visiting friends/relatives with dogs until he grows out of it ☹️ It's extra hard because his fear causes his younger sibling to be afraid as well.