We have insurance on our two dogs. No, it doesn't cover a very high percentage of routine care, but it does cover some. That, however, is not why we have it.
It's for the potential big-ticket items such as cancer and other disasters that can befall a pup.
Years ago, I had a wonderful cat (and no insurance.) The cat became very ill and I couldn't imagine destroying him, so I paid about $2000 to get him back on his feet. A few years later, I had to do the same again. I called him the IRA cat (IRA contributions were then limited to $2000 per year.) He repaid the expense by lighting up my life for quite a few more healthy years. Wish I had insurance. Such problems are what it's for IMHO.
If you can afford it, go for it.