I hate messes too! I used to thicken just about everything Tyler ate with a spoon. I kept a box of baby oatmeal on hand and used it to thicken grownup oatmeal, soup, mac and cheese, just about anything. A non-messy way to get spoon practice is to give a bowl of cereal without milk, like cheerios. You'll get a lot of them on the floor, but at least it isn't goopy.
That said, Tyler is 3 and still only uses utensils when the urge strikes him. He didn't even want to try until he turned 2. It really doesn't matter to me, I know he'll figure it out before college!