Do not allow your pet on pavement/asphalt - the heat can burn their paw pads. If it's uncomfortable to hold your hand to the pavement for seven seconds then it's uncomfortable for your dog to walk on.
Keep them in the grass or get some booties for them.
There is still the threat of heat stroke on hot days, though, so be careful how long you have your dog out. Being out for only 5 minutes may be too much for some dogs if it's hot enough! Just like us, the elderly are even more susceptible to the heat.