With social robots entering the consumer market, there is a growing need to study child-robot interaction in a domestic environment. Therefore, the aim of this study was to explore children’s beliefs that underlie their intended adoption or rejection of a social robot for use in their homes. Based on a content analysis of data from 87 children, we found that hedonic beliefs (i.e., the belief that having a robot at home is pleasurable) were the most mentioned beliefs for domestic adoption of a social robot. More specifically, companionship was an often-mentioned hedonic belief. Social beliefs were rarely mentioned. If children mentioned beliefs for rejecting the robot, they often referred to family members and family composition. The findings of this exploratory study thus suggest that children’s hedonic beliefs play a central role in their intended adoption of a social robot in a domestic environment.