I don't know about your family, but ours doesn't follow the typical 9-5 work day and dinner as a family. Most of the time, Eric works late, so I would make a dinner for the boys and a separate dinner for us. Sometimes we wouldn't even begin to make dinner until after the boys go to sleep, between 7:30 and 8.
More recently, we have made the decision to eat dinner as a family as often as we can, even if that means just one of us is present with the boys. Since we started doing this, one thing that I have seen improve is their skill at using silverware. Before, when they would eat just the two of them, they would attempt to use their fork or spoon, but without much success. I think seeing us as examples has really prompted them to use their silverware more often, which only makes them better at it.
It still is difficult choosing foods that are easy for them too. The lack of teeth along with beginner silverware skills can really make dinners challenging. That, or just repetitive. We tend to eat a lot of casseroles, stir fry, pasta and chilies. Summer will be nice, we'll grill out a lot and have more finger foods. And even better, we'll be able to sit outside, which significantly cuts down on the mess you to clean up afterwards. Major bonus.