Feed the dog and cat at the same time in places that are relatively close. For instance, the cat could eat on the counter while the dog eats on the floor by the counter. By coming together to eat, they will be developing a social habit that has bonding qualities. Most of the time the cat is merely executing his right for respect by showing the dog he's got more than the dog thinks. He needs to learn the command and that leaving the cat alone is a better thing than chasing or pouncing it.
Food usually suffices.
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