I really enjoy being more relaxed around the whole area of eating and table manners than when I was a child; it puts the focus on appreciating food and company rather than using the right knife and fork.
Absolutely this, in our house. My children were taught how to use a knife and fork, and which ones to use for what, but we were equally likely to sit in front of the TV and eat off trays. I did hold out for us all eating together for as long as possible without making meals into a form of control, but was never really concerned about the sort of formality that ruled in my parents' house.
The table laid for breakfast the night before, everyone waiting for the last person to sit down before eating with penalty for lateness, asking to leave the table, no elbows on the table even after eating, sit up straight - that is not for me, really. I preferred a relaxed family meal that gave us a chance to catch up with one anther's news, whether that was at the table or not.
As the children got busy lives of their own, that became something of an occasional treat though. Thinking about it, I clung to the hope of the family eating together slightly past when it was really about everyone else and not just what I wanted, and it wasn't fair. In the end, meals were rushed because one or other of us really wanted to be doing something else. As with so many things, you have to bend in the wind, I think.