I feel just like everyone here has pretty much said...or would, if I had a dog (and when I have more I will)...I feel it's a partnership, a friendship, and if anyone's a servant, it's me. Yes, you could say the pet is a servant, in that s/he must learn behaviors that conform to a society that doesn't tolerate dangerous animals, but the same is said of children.

DogTrainingLove brings up another great point. Service dogs have jobs, but I like to think every person who needs and uses one treats that pet with great respect and friendship. A pet is family, when all is right. Giving an animal a job is also a way to help him or her stay active, use energy, exercise brain power and the physical, and give mental stability.