We have two cats, a 15 year old girl, now spayed, and her 9 year old son, neutered. And of course, our alpha dog, Baby our Jack Russell Terrier!
If we have steak (once in a blue moon) I let the dogs lick the plates after, with maybe a little fat left there. We have to separate them, as Baby will not let Rex clean his plate! And he lets her win everytime without so much as a protest!