At RPR & HRH (haven't yet stayed at PBH), I was given a sign (like a do not disturb sign) to put on the door indicating there was a pet in my room. When leaving the room, I'd put my cat in the bathroom with all the "stuff" she needs. I put the pet sign on the outside of the bathroom door along with my own sign letting housekeeping know she's in the bathroom and to please not open the door. I place all used towels outside the bathroom. The room is cleaned and clean towels are placed on the table, chair or bathroom counter. This plan has worked out really well each time. I go back & forth from the parks and room quite often so I always let her out of the bathroom whenever I'm in the room.
My Mom has stayed at RPR a few times with her dog, Jasmine. She leaves Jasmine in the room and places the "pet" sign on the outside of the door. She'd return back to the room to check on Jasmine sometime during the middle of the day. As soon as she'd get to the room, she'd call housekeeping. When they'd get there, she'd take Jasmine out for a long stroll to allow the housekeeping associate to do his/her "thing". On days where it wasn't convenient for her to do so, she'd just catch housekeeping in the hallway and exchange the dirty towels for clean ones and make her own bed.