Some people innately connect with animals. Maybe this cannot be taught or learned. Even those animals who "don't like anyone" like me. It's a gift. Perhaps they can tell I'm a gentle giant and it makes them feel safe and protected. Whether cat or dog or some other creatures, I will lavish affection and attention on them (if they're into that). Or simply let them call the shots until they're ready to warm up a bit more. As a large, fit dude, I can manage even the strongest dogs, but I'm nimble and delicate with the smaller ones and cats. It comes naturally, and your pets will sense it.