As a landlord can I deduct this from tennant's deposit, if so how?

My tennants moved out without wanting a walk-through and omg the carpet is destroyed (in the living room only). There is a burn mark on one side, at least 3 yellow urine marks from their dog (which they never asked if they could keep, I only found out bec I showed up early on an appointed time towards the last few weeks of their stay). There is orange juice stain, a lot of spills and dirt and marks that would not come out from a carpet cleaning. They left a $2200 deposit, it would cost more to replace the high quality expensive carpet but it woud not match the bedrooms then, I can do it cheaper for a laminate floor per lots of quotes I'm getting to find the cheapest one but still at least $1,000 for the size of the space. I don't want to end up in court with them contesting this, I've never had such a large cost come up before with a tennant. What is the legal way to go about this and do I have the right to take it out of their deposit? Do I need their permission or anything written/signed first? Please help, I'm having no luck with prsopective tennants once they look at the carpet they are running out and it's costing me a lot in that regards keeping it vacant. (this is in CA).