We have traveled with out cat "Jerry" for almost 6 years in our 17' Casita
Liberty (No side table). We use our beds as twins and have no problem having Jerry along with us. Plenty of room during the day, even with his litter box.
Jerry (being a cat) can sleep anywhere he wants, but we have a shelf across the back of the trailer. He has his cat carrier on the shelf, and loves that - it's out of the way ... if/when he gets cold he will snuggle with one of us ..
If you had small dogs, and had the shelf in the trailer, you would have a great place that would hold 3 carriers. All tucked away happy and safe.
Traveling without Jerry would leave a big hole in our fun.