My dog is able to just use the ladder on the boat. He figured it out on his own pretty well. 70# German Shorthair. He's been on the boat since he was a puppy, and pretty much does his own thing, including going to shore on his own if he needs to do his business while we're on the hook. We have the dinghy for getting him to shore in the morning and evening, to avoid a wet dog down below while on the hook overnight.. From what your ladder looks like in your signature pic, your ladder looks similar to mine. Mine has a minor angle out when deployed, and with a little work, I'm sure your dog could figure it out as well. Otherwise, they do make several different types of "doggy ladders" for your boat, from ones you have to permanently mount, to ones that mount/hang on the existing ladder. All of which, to me, seemed large, cumbersome, and otherwise in the way for storage and people traffic..
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2004 Four Winns 328 Vista
1997 Larson Cabrio 290 - sold
1988 Rinker Fiesta Vee 248 - sold