G.B.
If these people are your friends I would just talk to them about the issue.
I would bring it up like:
"We're thinking of having XX's party at XX Pizza Place and did you know they limit the kids I can have at the table? It's so hard to figure out what their issue is...If we do it there would you guys mind sitting at the next table over with your little ones? I am still buying pizza and drinks for everyone but they don't allow more to sit at the table." If they have hurt feelings over it then they may just not understand the issue behind the scene.
I would also make sure and tell them you are planning on paying for the entire meals though, they may think you are just trying to imply they will need to buy their own food. But then again, if they are really good friends I might just tell them about the paying the $5 each for additional guests.