Domestication is interesting because your average German shepherd is arguably living a significantly higher quality of life than a wolf living in the wild. While they may not have the same "freedom" as a wolf living in the woods, the wolf lives in its own shackles, always fighting for food, shelter and protection from predators. While I don't disagree that having pets is fundamentally a problematic concept, I also think its always a bad idea to attribute abstract human traits and concepts onto animals, most of which want food, water, safe territory, and engagement.

Almost every animal specialist I talked to never talks about animals as if they were people, they always have a sense of respect for them being an animal and of a different species. I suppose they have a greater understanding of what an animal "wants".