For me, it's only dogs. There are other working animals (horses ect) whose relationship
seems more appropriate to one of domination. There are other pets who show a form
of love (cats, birds), but they are not dominated. Something seems inherently unhealthy
to the unconditional love that a dog gives. To me, it's very similar to what I expect we'll
be seeing with robots in the near future.
I am very saddened that you feel this way.
I think if you get a puppy, you will grow some and you will have a best friend for life. Since you are a little bit more intelligent than a dog, it falls to you to make sure that both your needs are met.
Once you get to know a dog well, you will begin to know how deeply ingrained a dog's pack instinct is and witnessing pack behavior first hand you may come to know that you are not really a master, but a leader of their pack. They do worship the leaders of their packs, even lick their leaders' junk and assholes, but only so long as that leader continues to do everything the other members of the pack need.
Dogs ARE faithful. You have to kind of fuck up to lose a dog's faith. The same goes for any leader of a dog pack.
Stop trying to make them humans and projecting your human horrors upon them. They are dogs. They are fine living as a part of a pack.