Obligatory “not my husband or cat”
The best you can hope for is that the cat won't get on the counter most of the time while you're in the kitchen. That's the best case scenario. Your cats get on the counter, they absolutely do (assuming they're physically able to).
One thing you can do is to NEVER feed your cat from your hand. Always put it in the bowl, on the floor. And, never feed them when you're eating. Don't let the cat know that it's a possibility that you'll hand them food directly. You break the rule one time, and it's all over.