What would have to happen in order to have both humans and dinosaur-like creatures on the same planet?

I've wanted my fantasy world to be as realistic and science-based as possible (aside from magic), but I also want there to be dinosaurs or creatures that are very similar to dinosaurs. So what would be required to realistically have dinosaurs inhabiting the same world as humans? For example, what climates would this world need, how separate would the mammals and dinosaurs need to be, and could there be any ice ages?

And, please, no "dinosaurs are already here" answers. I'm asking about these dinosaurs, not these ones.

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What would have to happen in order to have both humans and dinosaur-like creatures on the same planet?

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