I'm glad you found a good church. Pastors shouldn't mind questions. I would not hesitate to ask him if you have any.
About the animals comment...
You're probably referring to the 18 minute +/- mark about Able's sacrifice. In my perspective, there's a broad view about animals than how he put it. There are important differences behind Cain and Abel's sacrifices. I'm happy to explain why God wouldn't accept one , but the other if you want.
Animals were certainly meant for many reasons.
Sacrifices were one. That was never meant to be a sanitized gentle thing since it pointed to what our Savior went through in shedding His blood in our place for sins. However, they weren't commanded to torture them on a cross. They're death showed the covering and substitution for sins. They cost a lot and so much more was the cost of Jesus'life. The sacrifices were a serious matter and not an empty ritual. I think that was demonstrated too.
There are many other reasons why animals were created Food, clothing, shelter, medicine, tools, pets/ companionship, labor, beauty, protection, education, Bible illustrations, transportation and probably more. I'm reminded of the Proverb,
"A righteous man regardeth the life of his beast: but the tender mercies of the wicked are cruel."
God does want us to treat our animals properly and humanely.