I don't think this is quite right. Cats might do something you don't want them to do for the sole purpose of pissing you off, but I don't think they understand stealing any better than other animals. My dog won't steal things just to make me upset, but she will for another reason. She stole a rag from somewhere when she escaped one time, but she did it to show off to us, not to make us mad. Dogs certainly don't like it when you take something they're eating, and probably understand that we don't like it either. Cats differ from other pets in that they piss you off for fun, not because they understand naughtiness or ownership better.

Many animals have an understanding of ownership and territory that's not dissimilar to our own. If they intend to eat or use an object, they'll protect it with violence. Animals won't let other animals into their den most of the time, might guard food or water sources, and predators will protect their territory with violence. Modern human ownership simply passes most of the duty of protecting property to the state, while pet owners are in charge of keeping our pets from taking things we don't want them to take through physical force. That's all ownership is: protecting things we want the exclusive ability to use through violence.