A will is nothing more than your last wishes. Every state is different but in California they recognize a will without a notary, so don't worry about that.
I used to work as a paralegal. I have done wills for my family and others. In a law office it's pretty much a fill-in-the-blanks sort of thing with sometimes something more specific needed. Here's a good example 
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You would need to change it to fit your situation. I'd be happy to help you if needed. Just send me a private message. It is not difficult at all. You can decide who gets your assets, and both of you need a separate will.
For your pets, I'd find someone you trust and simply ask them to take care of the animals, and add a paragraph that outlines that in the will. Any family members that don't like pets would be happy you already dealt with it.
Yes, without a will if either of you passes your estate is going to the survivor, but it's still easier with a will.
Edit to add: This is not the full will, as you don't end up with just initials (you'd sign at the end, full name). I found this on Google images, searching for "California will"
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