It is important to secure all attractants (pet food, garbage, bird seed, fallen fruit, etc.) as this is commonly what brings coyotes into communities. It is also important to keep all cats indoors and dogs should be kept on a short leash and supervised while outdoors. You can also use hazing techniques (such as yelling, throwing rocks, using air horns, etc.) to scare the coyotes away as you see them. Coyotes are generally not a threat to people and are usually easily scared off. Some deterrents are the water scarecrow (motion-activated sprinkler), a critter gitter device, and motion-activated lights.
FWC page on living with coyotes: http://myfwc.com/conservation/you-conserve/wildlife/coyotes/
Humane society: http://www.humanesociety.org/animals/coyotes/
FWC General information about coyotes: http://myfwc.com/wildlifehabitats/profiles/mammals/land/coyote/
Urban coyote research in Chicago: http://urbancoyoteresearch.com/