If you happen to have both cats and dogs in the same family, know that they eat the same food and can eat out of the same dishes. Certain Pet Traits will encourage or discourage the pet's playing. Even better, most toys can be placed on the ground so your pets can play at will. You can also order your human Sims to play with their pets, but using objects is more efficient. Cats need scratching posts while dogs need squeaky balls. In addition to food and social needs, your pets need to play. It'll cost you a paltry five simoleons, and it won't be a permanent solution but it may stave off their hunger long enough to get them home. If you're away from a food dish, you can select the 'Feed Treat' social interaction. You'll still receive some notifications in emergencies, such as if your pets are hungry. This is to signify your human Sims learning the pet's specific noises and body language to learn exactly what they need. After working with your pet for a few days, the thought bubbles may pop up on their own.
