They're not annoying at all. Thank you for asking me to clarify. It will help others as well as you if, indeed, you do find it helpful. An animal gets hungry, it chooses to eat. If it's tired, it chooses to sleep. If you attempt to steal it's food or rouse it from slumber, it will voluntarily attack you in some way. I hope I'm not begging the question by using the word "choice."
Children are slaves, even if they like their parents, they cannot leave. They are totally dependent and have no choice in the matter, but they still have free will. ask any mother of a three year old.
I think a voluntary relationship would be letting an animal free. We can't do that today because, mostly of the government sponsored roads. It would be murder to just let all the animals go, but that doesn't mean that trapping an animal is moral. Philosophy is about prevention, not cure. It's too late for the animals. It's sad to say. Sad, but true. The best we can do now is minimize their suffering.