We have one meal and we talk about how everyone gets something they love and something they don't love in a week. We have allergies in our house so that makes life complicated enough, thank you.
I'm very clear that they don't have to like it, but they do have to try it.
I get them to eat their age in mouthfuls of things they are "practising". So if you are 3 you have 3 mouthfuls; by the time they are 10 they should be able to force down a plateful of food they are not keen on if they need to at someone's house.
We have a veg box delivery and quite often the only food in the house will be beetroot. It has made me a much more inventive cook, as I try and find ways to make (say) parsnips delicious.
That said, DS2 (6) just won't do parsnips, no matter how I disguise them. (Even as cake) We try not to give them to him.
I was a terribly fussy eater and very worried about trying new foods so I'm determined that my children learn to try stuff, and keep trying it as I cook it different ways. If they have a good try and they are not keen that's completely fine. I hate cucumbers but I make a big show of finding a way that I don't mind eating them, because I know many people in my family like them.
Next stop: tuna (bleeeeeughh)