Brush them with dog toothpaste (weekely), provide uncooked beef bones for monitored chewing and avoid kibble or treats that are sticky. No teeth cleaning needed in eight years.
We brush twice a month (not weekly) and I use dog toothpaste and a dog toothbrush for all 3 dogs (their own brush). Then they get their chews and a dog mint. Then we finish up with some ear cleaning and paw spa for their rough paws, keeps them softer. :-) Yes all 3 of my boxers are spoiled rotten!