Yes, I expect my dog to obey my commands, first time, same as I would with any child, as respect between dog and owner is essential, but I would not liken it to a slave / master relationship.
Dogs NEED a leader they can respect and look up to, not some soft weak minded owner that allows the dog to decide for itself if it should obey the owner or not.
I don`t expect to ASK my dog if he wants to come when called or sit when told, eg; I TELL him to to come when called, and to sit when told to do so.
Weak minded owners, who allow a dog to decide for itself, usually own disobedient dogs who have no respect for their owner whatsoever.
A well trained dog is a happy dog and knows its place in the hierarchy.
A dog that is owned on a `give & take `sort of relationship is a confused dog, as it lacks a `consistent` leader, which all dogs absolutely DO need.
Source(s): GSD owner for 58 years.