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Your first two sentences confuse me, so I'm not sure if I'm some kind of animal or still human. But I guess it doesn't matter that much because I keep my human intelligence even though I'm an animal, otherwise this question wouldn't make much sense.
I wouldn't be comfortable with having sex with them because I wouldn't be attracted to them, so It'd always be rape.
Even if it wasn't rape, I'd still feel very bad because I would feel like my owner would not love me. I'd be extremely scared and uncomfortable everytime it comes in just to have sex with me.
No matter what this owner would give me, I still wouldn't believe they'd truly love me. Even if I believed they did love me, I still wouldn't be happy because my owner would be delusional of the fact that I wouldn't be comfortable with this, which means I wouldn't be in good hands.
I'd feel used, alone and disgusted. I'd try to escape and if I am not a human (so an animal) I would search for my species, live and reproduce with them.

Slavery is slavery is slavery...doesn´t matter what "perks" you as a "master" are introducing into the "relationship". Additionally I think these imaginary sets like the one you brought up here totally miss the point. Power imbalance is the key word here. As long as there´s a "master", there is no equality, no freedom except for the master. The cage can be as golden as possible, it still is a cage.True freedom is the freedom to say "no" and conditioning a male horse to hump you , totally disconnected to the natural mating phases of horses is just another immaterial leash you are putting your animal on.

Just to be an anal autistic little shit- in this situation do I still have the memories, experiences, and socialization of current human society or have humans filled this role for thousands of years, are brought up in this culture, know nothing else, and have been bred to interact with these beings?

In the first I'd have awareness of what alternatives exist and be more likely to be somewhat unhappy in most situations because it's not what I know and it's not what I consider 'good'. In the second I'd be more likely to be content with my place.

In both though treatment is going to matter more than purpose. I could be given a house, food, water, have medical and psychological staff, and be allowed to roam miles of range as I please but eaten at some point. Conversely I could be confined to a tiny cage, fed poorly, denied medical care, shouted at and hit while being kept as a pet and allowed to die whenever that happens.

If I'm a domestic animal I'm going to die at some point. I'm not going to be able to have the same goals and dreams I do now and it's unlikely my circle of 'people who care if I die' will be around and in contact, so dying sooner rather than later doesn't carry the same weight.

I would certainly prefer to be well treated and cared for. Provided they didn't harm me, I don't think I would particularly care that much. It might be a little awkward, but I'll take a pleasant awkward over misery any day. If they were somehow appealing to me as a sexual outlet, I'd have even fewer complaints and may well enjoy the activity. (Hyper-intelligent space bitches from another dimension)

To take it a little farther, if I had been raised in such servitude and had never known any differently, I would probably enjoy it, thinking it to be normal (which in such a world, it would be "normal").

I'll assume for this purpose that my "keepers" are of such higher intelligence than mine that nothing like a meaningful life in their eyes could possibly be within my reach. They are, in essence, in charge of a civilization which offers me great security and comfort at the expense of my freedom, and without any power on my part to change the situation.

In contemplating my situation (probably a rarity among human beings in the real world), I'd have to acknowledge that my best option is to do what they want, so long as they don't hurt me in the process. If, in doing so, I attain sexual pleasure without the corresponding risks of pregnancy and STIs, so much the better for me and for them.

It might be different if the keepers and I had, for example, a common language, or similar degrees of intelligence and empathy. In this case, there might well be a certain indignity and humiliation in living in this way, since my options are being arbitrarily limited to this "lower" role. But if they have built a better lifestyle for themselves and my kind than my species has ever achieved in the wild, I see no particular reason to resist it.

I guess, in short, I would happily be domesticated by such a higher species given the humongous benefits and low cost to myself or others in my place. The sexual attraction would likely grow over the course of the domestication process, as selection for affinity to the keepers and higher sex drive moved us in that direction. If this had been happening for thousands of years, I might even be more inclined to the keepers than to my own kind, just as a matter of circumstance.

Not gonna lie, this question makes me a little uneasy, and rightly so as the idea of enslavement doesnt sound very fun... But I understand where you are coming from here and as much as the situation is unlikely to ever occur I will entertain the question. In fact im surprised some people disregarded this question so much, as I actually think its some rather good food for thought.

If had to choose between stewed or screwed, that is, between food source/slave labor (and a pitiful form of existence) and sexual acts (where I was given more liberty outside of sexual acts) whenever my master pleased, I would choose screwed. Chances are I would generally enjoy screwed more, considering my lifestyle would at least be somewhat decent, at least I think...

It would be different if my master loved me and I loved them and so forth... although that wouldnt really be a master/slave relationship anymore. You would be on more equal ground at that point. Keep in mind I would have to love them as well, and that really is what turns this situation from a disaster, to maybe something that isnt that bad.

Granted my own view of the whole situation would be dependent on my upbringing, and everything above is assuming that event was to happen at this instant. Depending on the situation in which I grew up, I might be more or less inclined to take the screw option, having already developed judgments and experiences with the other master race.

So lets put ourselves into the mind of a dog. Well chances are the dog spent some time with their mother, was soon removed, then spent some time in a retailer of some sort or bought immediately. Either way they quickly generate the belief (whether through training, domestication, or natural instinct) that the human people that they were adopted/owned by are their family/pack. So no dog would perceive their enslavement. Now the one flaw to this hypothesis that I see is the idea of self-awareness in dogs. If a dog knew that they were a dog, and thus made the connection that humans were a different species, do they even care? If dogs really are self-aware then they should be able to make the connection that they are not the same as humans.

So now with horses (which mind you I have a bit more experience with). Like the dog, the horse would spend some time with their mother, and then be removed, maybe living in the same barn as their mother, or sold off somewhere else. The difference is that the horse very rarely treated like a family member of humans and instead spends more time with their own species, usually in an environment edited and shrunk by humans. I have seen horses that are welcoming and friendly to humans. I have seen horses than become depressed or psychologically injured because of what humans have done to them. And I have seen horses that absolutely despise humans. Of course there is no way of telling why they despise humans, it could have been a past experience or maybe (and here is where your question of role reversal really comes into play) they realize that we are not the same as them and recognize their substandard treatment. Of course this opens the door to many questions such as what the horse expects from us, and why some are more willing to bond with humans than others, etc...

So I do think that a horse can perceive a certain level of slavery if they become aware that they are being denied something, which could result in the horse getting upset or unwilling around humans. And since horses are social animals, which do interact with each other, if you have more than one horse owner at a barn, one horse might become aware of some things they another horse is getting that they are not. Of course this is usually very simple stuff like a food stipend or something.

In other words, suppose that the shoe was on the other foot and my horse owned me. How should I react?

I think the best way to approach this (and it really is quite simple) is that your horse, and you as the owner in this messy world should follow the Golden Rule most famously quoted by the founder of Islam: "treat other as you would like to be treated". Of course your a human and he's a horse, so there are differences in physical and social norms, but im sure you get the point. And this is really a message to all zoos when it comes to taking care of their partners; if you wouldnt be comfortable with your partner doing something to you - then dont do it to them (the species' physical/social equivalent of the action).

I'm no huge fan of Dan Savage but my mind's latched onto that phrase for years. It's always seemed the height of hypocrisy when non-zoos complained about humans having any kind of sex with animals because it's 'abusive'... in between bites of a bacon cheeseburger. Even if any animal-human sexual contact was definitely shown to be harmful, I don't really think you have a leg to stand on when you're regularly eating other animals (some who are just as intelligent as dogs) - and it's not like cows in the dairy industry (for instance) are asked nicely if they want to be repeatedly impregnated. For that matter, even breeding pets for showing can involve non-consensual penetration or impregnation. But most people would be disgusted if a man mentioned he had sex with a dairy cow, even if that cow lived a life consisting of being made pregnant repeatedly with no question of her consent... I think most people's objections to animal-human sex is 'the squick factor', and then other arguments come up later.

...Back to the question... I'd say 'it would depend', but I honestly think there's very few situations where I'd say 'stewed' would be better. Perhaps if the sexual acts were extremely painful and frequent? Honestly I think I'd quite like being a well-loved pet, the second option is naturally more appealing, but if my choice is 'die or slurp some schlong', you best believe I'm going to learn how to do that and fast.

It's hard to think about a question like this because obviously, me as I am now being plucked up and forced into sexual slavery is a very different scenario to growing up and living in a world where you expect that to be your life. In such a world you might not even have a concept of 'rape', which I definitely would consider it if a higher being stole me in the night and had sex with me regardless of my own feelings.

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"Would you rather be stewed or screwed?"

Both.

I'd be willing to be screwed (sexually submissive to "higher" being), and then at the end of my life I'd be willing to be eaten (a food source).

In real life, some people are a food source to animals after they die (it's called Sky Burial).