Zeus is pretty hard to last hit with too. He is attack animation is 0.633 seconds long, which is really slow in dota. His 
Arc Lightning is specifically designed as a last hitting tool since his animation is so bad. Get better at the timing too
Carefully watch the rate at which the creep's hp is going down. Ranged creeps do more damage, so every time a ranged attack hits, the creep will lose more health than you expect. So watch out for that periodic spike in hp loss. Also, when last hitting make sure the times of how long your animation is, how long it takes the projectile to hit, and how long it takes you to move to the creep (walk distance and even turn rate) should all be taken into consideration.
If you are playing
Zeus you should be taking him mid and buying a 
Bottle and using rune spawns and Bottle crowing to constantly keep yourself at full mana. Since you are taking him to a lane of course you are going to completely run out of mana and then just be only a little stronger than a ranged creep. As for last hitting, you're correct. You need to wait until it is at the lowest health before hitting it. You should notice than ranged creeps and melee creeps have different attacks - ranged creeps deal more damage.
The trick is to time your attack off the attacking of your ranged creep
If you go into a private lobby with just your own hero and go watch creeps attack one another you should be able to count down the number of times that your ranged creep attacks the melee creep which all of your creeps are attacking. Assuming you aren't fighting underneath a tower it should usually be a ranged creep attack which deals the killing blow. Melee creeps attacks are just too low.
Once you watch it enough you will be able to tell exactly the health at which your ranged creep will score it's second last and last hits on the enemy creep. You then just need to make your attack in between the timing of your ranged creep's second to last hit and the last one. The timing for this is only something you will learn with time. Keep on practising long enough and you'll be able to tell which attack is the second last attack. You then have about half a second to right click the creep and score your own kill.
Now obviously when you are in a lane against another hero they are going to be trying to deny your creeps. The timing for denying a creep is exactly the same as it is for last hitting one. Whether the creep is killed or denied comes down to the split second timings of when you and the enemy click on the hero, and what the heroes attack animations are.
Some attack animations are much faster than others
Sniper for example has an extremely quick attack animation. Pretty much as soon as you attack his projectile will hit the enemy. A hero like Zeus has a bad attack animation. He has a initial attack animation while he swings his fist, and then the projectile has to travel through the air. Try out different heroes to see how long their animation is. The faster the animation the easier the last hitting. Melee heroes tend to have very fast attack animations and higher base damage, ranged heroes have lower damage and usually slower attack animations to make up for their early ranged benefit. As for the split second timings of you and your enemy
Well this is what separates mechanically strong players from mechanically weak players. The only thing you can do for it is to try and practice your reflexes.
There are some other tricks you can do though such as right clicking an enemy hero and then withdrawing in order to draw creep aggro and pull the enemy creeps closer to you. And some heroes have abilities which improve their creep scoring potential (eg
Viper's 
Nethertoxin).
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