There is a bit of consensus about this exact issue in terms of the 'Uncanny Valley' hypothesis[0] and I'd tend to agree. We would have to dehumanize any sufficiently advanced or "self aware" AI agents if we mean to have them serve human interest solely and unconditionally. Incidentally, humans seem to be historically well versed in doing so.
Somehow Japan seems to be an exception and they seem to like humanoid robots a lot more than Western countries. Even old people are comfortable with being helped by human-shaped robots from the depths of the uncanny valley.
[O]https://en.m.wikipedia.org/wiki/Uncanny_valley