And, truth be told, following yet another "pee incident" with one of dogs, after almost 6 months of training (and training classes), if you ask me, cats catch on things way quicker than dogs.
I still have to go outside with her very single time - if I just let her out, she just stands there. She does understand verbal command, and obey a lot of the time. But you still need to always keep and eye. And at times, there's just nothing registering...
Adding to the fun, the older dog we've rescued can't be left out of sight either as he has a tendency to mark things (including Christmas presents... but that's another story).
Unless there is some sort of behavioural problem, cats are a lot easier to handle. So long as you accept that the house is theirs and they can do whatever they want and go wherever they wish.