Given enough time and work, any domesticated animal can be trained. It depends on what you want them to do. It's easy enough to teach a dog to sit, or stay, or shake paws; it's a little more difficult to train a cat.
Most dogs respond to treats and praise. Cats love petting and head scratches. If you have an iguana, however, you'll get no help from me. Let's stick to dogs and cats.
A dog wants to please you and he wants a job. Take advantage of those two motivators. I've seen dogs on a construction site, fitted with a "saddle" with pockets, and they trot around to the workers with tools, water, whatever. They feel useful. A little treat and a kind word, and they'll work all day. Cats don't want to work, let's face it, so to make them feel wanted, give them a warm place to lie around and a wiggly toy, and they'll come when you call. That's about it for a cat's obedience. But it's a start, right? Maybe "obedience" isn't the right word - let's call it willingness. We all want a pet to be a companion, so give it a try. It's good for them and it will lower your blood pressure to have a companion who makes no demands.
We all have heard people with no kids and three dogs indicate that the dogs ARE their children. I can understand that. In some ways it's better than having kids. Dogs and cats don't talk back, demand the car keys, put you in the poorhouse, keep you awake at night or go through puberty. All they ask is cool water and a little kindness.
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