Display posts from multiple custom taxonomies

Ok, I have created a Custom Post Type called ‘Pets’. I inside of Pets I have created a custom taxonomy(think category) called ‘pet_type’. Inside I have 3 pet_types: Dogs, Cats, Small Animals.

What I need to do is display one post from each of those categories on one page. I know I can do this by calling get_posts 3 different times but I don’t know if that is the best way to accomplish this. Is there a way to call these all at one time or do I need to call get_posts 3 different times?

Please let me know if you need any more information, and thank you!