Actually animals do a lot for plants that we take for granted. There are many plant species that are only present due to the activity of animals, animals can graze upon plants, lets say species A, and yes, this may seem like it's not doing that plant a favour and, to be honest it isn't. However it is doing a great deal for species B that is direct competition with species A, if the animal wasn't around to control species A then species B would be competitively excluded. So animals actually do a great deal for plants. Also consider this, animals eat and digest plants, they then excrete and urinate, this provides plants with "unlocked" nutrients, essentially transferring one set of compounds like cellulose (which is hard to catabolise) into a more catabolic form (allowing bacteria to carry the work on etc), this process would be much slower for a plant breakdown had it just died, which locks away useful nutrients that another plant could have potentially used.
I must agree with Phi for Alls statement "it's that the whole system works well together" this is key to what has developed, we have evolved alongside plants and the species that once were present in pre cambrian explosion are pretty much preserved only in fossils with one or two exceptions of ancient plants surviving (see Ginkgo biloba for more details), the rest have pretty much moved on evolutionary speaking. These plants have then formed an array of interactions of the millions of years with animals and other plants alike, some for example become dependent on that interaction look at Acacia plants for example (http://www.ice.mpg.de/ext/1057.html),but there are many more examples. Above Strange gave a good example of pollination, another service animals provide from plants.
All in all the short of the story is we have evolved alongside these plants like all other animal species around us, therefore we work as a system to interact with one another, the fact we are taking advantage is a mute point. Animals are equally important to plants as plants are to animals, we provide services for them and they provide us with energy... well at least most of them do C;