What an AI wants or feels satisfied by is entirely a function of how it is designed and what its reward function is.
Sled dogs love pulling sleds, because they were made to love pulling sleds. It's not slavery to have/let them do so.
We can make a richly sentient AI that loves doing whatever we design it to love doing - even if that's "pass the salt" and nothing else.
It's going to be hard for people to get used to this.