We feed our 5 year old mixed breed 3 times a day (Royal Canin, gastrointestinal, 3/4 cup recommended dosage per day for her 10 lbs weight), around our own meal times. She never gets table scraps, unless it is an accident and some food falls down. Our dog stays under the table, but she does not beg for food, nor is she problematic while we eat. She may get the occasional Rice Krispies or rice, but we stop her if it's something more significant, such as meat.
The actual behaviour we notice is I come in with my 1/4 cup full of her food. The dog jumps off from my wife and will follow me. She sits or lounges closes to the bathroom's door, waiting for me to put the food in her bowl. Once I do that, I will usually tell her "Bon appétit" (we're French Canadian!) with a hand signal to signify "OK, go ahead". She will usually walk fast/run to her food, sniff it a bit, then either look at me or start eating. If she looks at me, she will wait, and wait, until we encourage her to eat. We only encourage her vocally, not by giving her food from our hands. She has been eating this particular brand of food for at least 3.5 years.
Sometimes, I will come in the bathroom, and the food from last meal is still present. In those cases, I add a kibble or two, just to make some noise, then I will return the 1/4 cup back to her bag.
We're not really worried about her health, as the dog happily welcomes guests and family members. She plays with us, and loves to sit on my wife's legs to nap the day away. We don't walk the dog enough, for sure, but sometimes manage to play 5-10 minutes throwing ball in the house with her. Our dog is also on a yearly checkup with her veterenarian, the last one less than 6 months ago.
I'm pretty sure the dog was "trained" by us, and I'd like her to unlearn that beahviour. I've found https://pets.stackexchange.com/a/1477/1283 which I've read today. The only addition to our routine is to remove the food after 30 minutes, and feed her after we've already eaten.
Are there other things I've overlooked that I should be doing?