As you are probably well aware, most options for controlling pavement ants use chemicals that are dangerous for children or pets. Setting out baits works pretty well, but those baits will also attract your pets. Many of the pesticide sprays are contact only, meaning you actually have to hit the ants with the spray to be effective. If you look carefully at the products available at your local garden center, you may find one that has "residual effectiveness" on the label. Those would be effective (probably until it rains) if ants walk across it.

Here are some control suggestions from various universities:

https://www.canr.msu.edu/resources/pavement-ants

https://extension.umn.edu/insects-infest-homes/ants

https://extension.entm.purdue.edu/publications/E-22/E-22.html

Some folks claim that pouring boiling water into the entry mound between the pavers will kill the ants. Depending on how deep their nest is, you may get lucky enough to kill the queen. This is not a research-based approach, but it's free and certainly worth a try.

Be sure to clean up any food residue left on your pavers, including crumbs, pet food, grease, and spilled sweet drinks.
These will attracts ants.

If you choose to use a chemical pesticide (sprays or baits), be sure to note whether they are for indoor or outdoor use and follow all label instructions. It is a violation of Federal Law to use a pesticide in a manner inconsistent with its label instructions.