All my pets were strays that started living in my back yard. So in a way, you could say they chose to live with me.
I wouldn’t say having pets is slavery as you’re taking care of them and not really forcing them to do anything. With cats, you let them out freely and they choose to come back.
I think having kids and telling them what they can and can’t do for 18 years is closer to slavery than having pets, though I can understand why people might view it that way. Interesting question.