The tl;dr is that dogs really do identify us as family, and in all likelihood, the first ancestral wolves to become domesticated dogs took as many co-evolutionary steps towards us as we did them.
Humans and dogs have been evolving alongside each other for at least 15,000 years. The sorts of dog breeds that can't survive in the wild (bulldogs, etc.) are a fairly recent innovation in all of that time, dating back to the mid 1800s and the emergence of the modern breeding program.
Dogs like being with us as much as we like having them around. They were the first domesticated species, and they are literally the only mammals we know of who can read human facial expressions and emotions as well as the great apes can. Our relationship with them is a partnership, not an enslavement.
If you want to take issue with the way humans treat animals, there are so many better targets for outrage than our treatment of the dog. Take the cow or the chicken, for instance, most of whom lead a tortured and awful existence and would want nothing to do with us in a state of nature.