In my old house I had 2 seperate counters. Their counter and mine. Theirs had their food (up away from the dog), they didn't get on my counter. It was understood whos was whos.
When we moved there had to be some discussion on the matter. Now it is one continuous counter, but so far they stay off of it. Except for the rare occasion of going after the left overs. This usually only happens at thanksgiving and other "big" dinners. and always by the same cat!
I do the same thing. I don't make noises, I usually say "have you lost your mind?! Get down!" They meow and leave.