We don’t do the Mommy and Daddy thing either–I neither have nor want children and it feels vaguely wrong to me to be referred to as “Mommy”. 
Usually we’re their “humans,” but at some point I started referring to us as “the Pink Things,” as in, “Tenshi, don’t get underfoot when we’re going downstairs…Pink Things aren’t dextrous like cats are!”
The cats are “the kids” or “the furballs” and we’re “their humans” or “their Pink Things.” Individually, Tenshi is “T-Man,” “Mr. T.,” or “Kitty-Guy,” and Meep is “Meepy-Girl,” “Sweet Thing,” “Meeplet,” or “Meepy-Creature.”