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Your cat or dog or ferret needs a microchip to identify them. And then once they are at least 3 months old, they need a rabies vaccination. Your vet can issue them with their brand new EU pet passport.
However, even if you have got your passport, it is not valid for travel until at least 21 days after the rabies vaccination is given.
Coming back to UK is pretty simple from Listed country or the EU (full list is here). Your dog will need a vet check and tapeworm treatment 1-5 days before they come back, your cat will just be able to come back.
Coming back from further afield – an unlisted country – is much tougher. Your pet needs a rabies blood sample at least 30 days after the rabies vaccine and then a 3 month wait after the blood sample is taken. The consequences of getting this wrong are bad – your dog or cat would have to go to quarantine for up to 4 months.