My dog is a companion and not a servant. She gets food and love and warm safe place to be. I get vet bills, food bills, wear and tear bills and a whole lot of fun. Our relationship is mutually beneficial and I let her do pretty much what she wants as long as it is safe and socially acceptable. As dogs are highly social, they are programed to abide by social rules and although I give her quite a lot of freedom she has come to understand boundaries and is happy to live within them.