I don't believe in dried dog food, and see it as a convenience to owners, but not to dogs. I mean, what does a wild dog/dingo/coyote, eat in dry form? To me it's unnatural.
Our dog gets fed twice a day too, and she gets dog mixer biscuits, soaked in warm water till it swells, and a wee drop of milk, at breakfast. Not too much milk, as I don't think cows milk in more than small amounts is good for dogs. In the evening, she gets more soaked mixer, with the addition of canned dogmeat. Friend of mine feeds his dog on raw meat and biscuits, it's supposed to reduce the 'bum breath' factor.
I was always taught never to feed dogs between meals, except for a small token reward, when training. NEVER give them sweets or chocolate.
My dog never comes to the table looking for food when we are eating, as she has been trained not to, as I find this off putting when it happens at a friend's house.
I dearly love my dog, and hope she's happy with what we provide for her. She's certainly bright eyed and bushy tailed, so maybe we're doing something right.