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Normally it's tough to draw things without using outlines and still making things clear, but that's not an issue here, and I think that's simply because of the color choices and practical use of shading. The background's kinda greyish in contrast to the characters, so the two are much more readily focused upon.
One thing I like is the color scheme, where the dog is consistently more reddish, and the cat's more consistently bluish. It kind of gives them some personality.

One thing I got to ask is what's with the 1 and 2? I'm under the impression that this is because you haven't yet decided on names for them, and the numbers are placeholders. It's kind of interesting though. <img src="e.deviantart.net/emoticons/let…" width="15" height="15" alt="" data-embed-type="emoticon" data-embed-id="395" title=" (Lick)"/>