I always make sure my son had a good breakfast and lunch since I am NOT going to be cooking two dinners around here and I don't want to always eat kid food.
What I do is try and make sure there's one thing in the meal that I know he will like. This can be hard with toddlers since their taste's change...sometimes over night. Some nights he eats a lot, sometimes, not so much. I think the important thing is he's being exposed to family dinner time and new foods. I've been told that it's best not to pressure them regarding foods too much. Chances are they will come round and the pressure can actually make things worse in the long run. It's frustrating sometimes when you feel like you're throwing food away, but I'm told their nutrional requriements are really not that much at this age.
I think it's good that you're putting your food down in front of him every night rather than doing the nightly chicken fingers routine. I think the exposure is good, even if he doesn't always eat it. I sometimes give my son yogurt but after dinner and as a "dessert" so I don't think it's that bad. :)
Maybe some other moms will have some advice here.