How do you train your puppy not to attack your cats?

I had a puppy named Freya, and I got her when she was just 6 weeks old. She was raised with my two cats, but when she got bigger she started to pick on them, and eventually she would lunge at them when they walked by, or growl over her food at them. I plan to get a rottie, but I need know how I should train her not to exhibit the same behaviors with my cats. Any assistance?
 
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