For the slave knowing his place and wanting it that way is just as important. Although this is a domestic example, typically this is how your animal slave would be in (SM friendly) public as well. A Dogs place is on the floor, and he feels secure by his Master. When you observer developed dogslaves (as with real dogs) they seem to have a minor panic attack of "where's Master" , just to they know where he is. Might also be the fear of being abandoned for a pack animal?
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Here are some examples of positioning for your slave dog. He should always beware of the security of his Owners presence, the grip on collar, the taught-ness of the leash.
You can clearly see the 'need' in the slaves eyes towards his Master and he know where belongs.
slave positioned and quite content about where he belongs.