It's a pretty good relationship for the dogs from an evolutionary perspective. All of their needs are met forever, they experience essentially no hardship or struggle, and their species gets a free ride to survive indefinitely into the unimaginably distant future by being attached to a more successful species.
Being cute is a strategy to get attached to humans. Selective breeding amplified this in recent times, but humans evolved to find dogs cute and dogs evolved to be cute in order to enforce the symbiosis. Humans didn't subjugate dogs, the presence of the human species created an ecological niche and dogs evolved to take advantage of it.
Remember that we didn't just create dogs. Wolves initially filled the role that dogs now take. Over evolutionary time, wolves adapted to better fit the niche. Not because humans wanted that, but because it was evolutionarily advantageous for a companion species to be more compatible with its host. Wolves got smaller, more friendly to humans, more protective. Wolves that didn't protect their humans lost the benefits humans provide and died. Wolves that attacked in-group humans were excluded or killed. Wolves that didn't obey their humans died due to hazards to themselves or their humans.
We only started breeding them after they became dogs. They evolved from wolves to dogs on their own.