Different people have different priorities, some subset of people must desire to be taken care of like pets. That said, the relationship does not have to have a master/pet dynamic to it. There are alternatives where ASI takes specific roles away from humanity (like various governmental, administrative, or legal roles), especially those roles where humans consistently fall short and failure has very negative consequences. The driving motivations for ASIs will determine what kind of relationship we have with them. They may all have the potential to lead to mass subjugation but, that isn't set in stone, we could end up as partners in a shared future.

I for one hope they can fortify my deep solipsism with more detail, my own personal paradise Matrix. Or maybe they can just take care of me while I waste away on drugs, ensuring no negative externalities.