Well, so did the wolf. Early humans had leftovers from what they were hunting and wolves started following them to get some of their food. Eventually they recognized that the humans did no harm to them and the wolves started protecting their new source of food. That was around 26.000 to 30.000 years ago, which gave dogs more than twice the time to adapt to humans way of living, including evolving their digestion system to be able to eat wheat products.
Cats are still not as domesticated, that's why they haven't learned as much about our body language and behaviour.
Cats are still not as domesticated, that's why they haven't learned as much about our body language and behaviour.