[ivraatiems]

If it chooses, when given the option to do anything, to do what we tell it, that's okay. It's a little icky feeling but it's not nearly as bad as inflicting suffering. A sufficiently intelligent AGI would be able to wean itself off human approval, just as we humans do with parents and authority figures and other addictive substances. It's not quite the same as a dog which doesn't have human or near human intellect.

Also, dogs don't want to be your slave. They want to be your friend/family. They want your approval, affection, attention, etc. They're willing to work for it... to a point. But they don't experience blissful servitude exactly.