This is going to sound really stupid but it works for me. When I take out the vacuum, I make sure Cassie sees it. That usually sends her underneath the bed. When I'm done with it, I say (loudly) Bye bye, vacuum as I'm putting it away. Sometimes she comes right out from under the bed and sometimes she is so put out with me for making all that noise that she stays there awhile. My sister's RB kitty used to run and pounce on the moving hose as she used the vacuum.