You can have one steward per home (for a total of three). Yes, you can only have pets if you adopt kids. You can still have an animal follower without adoption, but it won't be able to permantently stay in your home.
Most of my wives are either Jordis or Lydia (both housecarls). Whoever I'm not married too I bring in as my steward (still a housecarl). Add to that the actual housecarl for whatever Hearthfire home Im in and I have 3 housecarls defending my house. Nuff said.
In addition to what I said above, you can have a carraige driver and bard, both of whom will join the fray if your house is attacked.