Cats are often hard, maybe before the baby comes put something like al foil in the cot so when they jump in its noisy. Most cats wont snuggle up on foil.

For the dog... we've got a lab & a lab cross. When Matilda came our lab was only 6 months old and I never put the baby on the ground, either in a bouncer or rocker or on the lounge next to me.... I didn't put her on the ground and then after 3 months I put her in a playpen to keep the dog off her. LOL not because I was worried about too much else but knowing she needed time on a rug I used the play pen, or I would put the dogs out & then put Matilda on the ground.

With Jovie she had time on the ground with the dogs and she got stepped on once when she was 4 months old poor little mite cried but wasn't injured... So we got the play pen back out & used that when the dogs were inside.

Also read the article linked in my signiture HTH!