To think of domestication as a form of slavery or even exploitation is to misconstrue that whole relationship—
Domestication is an evolutionary, rather than a political, development. It is certainly not a regime humans somehow imposed on animals some ten thousand years ago. Rather, domestication took place when a handful of especially opportunistic species discovered, through Darwinian trial and error, that they were more likely to survive and prosper in an alliance with humans than on their own.
From the animals’ point of view the bargain with humanity turned out to be a tremendous success, at least until our own time. Cows, pigs, dogs, cats, and chickens have thrived, while their wild ancestors have languished. (There are ten thousand wolves left in North America and fifty million dogs.)