My cat is so smart she understands when I'm giving her discreet signals to come get a treat in the kitchen alone so the other cat won't gobble it all down. I make eye contact with her and motion her over with my hand and she quietly jumps down from her perch and joins me in the kitchen. She also understands when I'm about to do something that bothers her, like grind coffee or turn on the shower. I tell her, "Watch out Heidi!" and she leaves the room. She will also leave areas where I don't want her to be (like the bathroom closet) on command, without giving me any trouble.
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