1. Walk your dog during cooler parts of the day. Walking in the morning or late evening will help avoid the hottest part of the day. This way you both can avoid the heat, but your dog's paws will also avoid the heated pavement as the sun goes down in the evenings.
2. Avoid Pavement. Better yet, walk your dog in the grass. Especially if you have to take them out during the hotter parts of the day. Your dog will forever love you for the cool feeling the grass will give them unlike the pavement. Spare their paw pads!
3. Toughen up your dog's paws. When the temperature starts to drop, walking your dog on pavement will help toughen up their paw pads. Not only will this help them become less likely to get scratches, but also become more resistant to burns. However, this isn't something that will happen overnight. Give it time!