I have no problem with children in restaurants if they are well behaved - this does not mean scarily quiet and impassive, just not screaming or tearing around the restaurant playing with toys and annoying other diners. I'd feel equally annoyed by an adult behaving like that, by the by!
I was allowed to dine with the adults from an early age and it was impressed upon me what a special privelege it was and how happy everyone would be if I managed to eat properly, make polite conversation with the group and generally behave like a mini grown up - if I didn't, bad behaviour was simply not tolerated and I was removed from the table. I didn't want to miss the fun, so I behaved!