I absolutely agree. patience and consistence just like anything else. My maltese is so used to brushing his teeth that when I turn on the electric toothbrush, he actually lifts one of his lip for me.

My 2 yorkies are more of a nightmare- but I started when they were young, and now they are used to it. My little yorkie boy who is 10 months now is the worst of all. He wiggles so much. We tried laying him down, propping him on my lap, sitting him down on a table, it didn't matter. Now, he is ok with it. They even let me brush their tongue. We try to do it 4-5x a week.
I also use a special chicken flavored tooth paste with some kind of enzymes that I get from our vet. It's not cheap but it lasts a long time.