To acclimate your cat or dog to its carrier and so they'll have something good associated with it, feed them in their carrier. That way, it will not only be easier to take them to the vet, but if there's ever an emergency, it won't be hard to get them in it. Also, if you make the same sound each time you feed them, and you need them to come in an emergency, you can make that "time for food" sound and they'll come running!
ALSO, make certain that you WASH the carrier with some gentle detergent and rinse well between uses because they associate odors with where it's been. If it sits to dry near their own environment they will give you less trouble going into it.
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