Wait, what? What does Animal Planet and Ken Sugimori have to do with anything?
Animal Planet will still be here. Pokemon never outright replaced real animals, not even in the games. They're still monsters, not animals with specialized traits (i.e. Mouse Pokemon or Cat Pokemon, not mouse and cat). It's one misconception that still bothers the heck out of me, why do I let it? Anyway, if anything AP will either start covering Pokemon, or The Monster Network will arise, and after a year or so of nothing but Pokemon coverage, it'll deteriorate into a reality TV network about child stars and crazy stage parents.
Ken Sugimori? What, is he the new Yuji Naka, taking credit where it doesn't belong? I believe the man you want is Satoshi Tajiri. Or at least for the first couple of gens.
And are we're talking about if Pokemon were suddenly introduced? Oh no, there'd totally be a Jurassic Park thing going. That's almost unavoidable. You can't just introduce a whole new Kingdom (because monsters certainly wouldn't fit into what we already have, likenesses or no) and expect everything to turn out hunky-dory. It'd be chaos, even if the humans start it out of fear. The Pokemon could be well meaning, but too much antagonism's going to drive them to anger, and even the smallest special type Pokemon has enough power to seriously tear stuff up.
Come on, it's no different than all the alien movies we get year after year, except it doesn't wrap itself up within 2 hours.
In order for you guys to have the ideal Pokemon world you dream of, they would've had to have existed since the beginning of time, or close to it. It takes centuries, if not eons of human interaction for animals to become accustomed to and even domesticated by humans. And remember, these aren't just animals we're talking about. It would take a long, long life alongside humans for Pokemon to realize that breathing fire in a civilized village = bad.
It's possible, however, that you could get the results you want quicker. It may only take a century or two for them to get accustomed, because the only other major difference between animals and Pokemon besides "magic powers" is sapience. They have a sense of perception, are able to emphathize as well as symphathize, demostrate free will, understand logic, and are able to use complex problem solving, all this possibly among other things. There's still, however, a barrier of both language and point of view between humans and Pokemon, like what's acceptable to a Pokemon may not be so in a human's world. The great thing is, both Pokemon and humans are able to take initiative to learn and understand each other's point of view. Your common animal will only ever see things from it's point of view, though some of that is learned (pet mice won't be so quick to run away from your hand as wild mice, for example).
Basically, Pokemon are pretty dang smart, so they'll catch on quick as to what's taboo for life among humans. It's mostly the humans I'm worried about. Pokemon are still beasts and they will fight if provoked, and possibly have a tantrum afterword, too. That's why Pokemon like the Red Gyarados were so dangerous.
Then you've also got people who really, really want humans to be on the top so badly that they're gonna oppose Pokemon just on the grounds of them being too intelligent for "animals" (or walking plants or floating inanimate objects or whatever). I'm sure some people will say it's the devil's work. But only the extremest of the extreme will ever actually believe that. There'll probably be some propaganda about them uprising and overthrowing humans just because they have the power to do it (and they do, technically, if they all did it together in one massive strike), which is really just fear mongering. The news'll focus on isolated incidents. For example, a Raichu, unable to contain his enthusiam, kills little Johnny, age 3. That Raichu is a menace to society, better string'im up by the tail. But honestly, Pokemon don't have the same values or goals as humans, they aren't in this for gain or power or material posessions, at least most of them probably aren't. Humans worrying about them stomping us all out are all probably paranoid anyway and have the worst kind of world view about others in their own race already.
It's the same argument used over and over in stories about robots, and giving robots a free will and the ability to feel emotions, blah blah blah. But wait! The robots can be misused! Hold on, what if their programming falters and they no longer obey that first law of robotics? Just one second, what if someone programs one who is in total control of all its actions, and it sees humans as inferior, creating an army to one day rise against humans? And it goes on.
I dunno. I think at the end of the day, humans fear radical changes, and especially those that they feel could cause an extinction to our race. All in all, the point is it's not going to end well. If you want Pokemon to appear out of the blue today, have at it, I guess. But you won't be alive long enough to enjoy the potential harmony humans and Pokemon could have together. Maybe your great grand kids will.