Hi Sunsheyn,
I too travel with pets in a small travel trailer. I have a 16ft Wildwood 185RH. I have three dogs, small, medium and large. The size of the camper has not been a problem since we spend less time inside and when we are inside, my dogs tend to stay on the bed. I too, place them on the dinette bed, but my two largest creep into the bed with us once we are sleeping. We have come up with a system using carabiners, rope and dog leashes to keep them at the site. All in all it is pretty easy to take them with us and I prefer to have those I love (dogs) go with me on vacation!
