Spend a bit more time speaking to genuine zoos and you'll quickly see how we "do it". Seeing animals from a "normal" point of view often leaves them being subject to less-than-ideal living conditions. Not by their choice either. You can't blame the dog for being a "dirty animal" when it's owner keeps it outside, feeds it pebbles, doesn't bath it, take it to the vet, ever take it out the yard etc.
If you put the right amount of effort into your partner's well-being and you genuinely find them attractive then you can be sure that you won't have any problems "doing it"

My girl for argument's sake is probably healthier, cleaner and safer to be intimate with than 99% of human females out there.
There are lots of threads going over the risks and the chances of contracting different parasites or diseases from your animal partners and the bottom line is that there's little to no chance of it.
Not sure where you are along your zoo journey but hope this helps; for some folk there are a lot of mental adjustments and some things you have to accept internally before you can wrap your mind around it. For me it was about as natural as the trees outside and I took to it like a fish to water.