It depends on who's classifying them. Traditionally, most domestic animals are classfied as their own species, but there has been a movement lately to classify them as a single species with their wild ancestors when those ancestors are known and very closely related (genetically speaking). So a domestic dog can be, and has been, classified as Canis familiaris, but now you will often see it labeled as Canis lupus (subspecies familiaris), Canis lupus being the gray wolf, the presumed ancestor of our dogs.
And a housecat is traditionally called Felis catus, but now you may see it called Felis silvestris (subspecies catus), Felis silvestris being the small wildcat of Europe and Asia, the ancestor of domestic cats. (There are actually several wild subspecies of Felis silvestrus, with some controversy about which one or ones are the ancestors of housecats.) In the same way, a horse can be called Equus caballus or Equus ferus caballus (Equus ferus being the wild horse presumed to be the ancestor of domestic horses). And so on.
Many things about an animal (or plant) can be considered in deciding whether it is a distinct species. Being domesticated is not one of them.
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