I do not know many parents who get excited when their children indicate they would like to be servants. There is not a long list of people who wish to be at the beck and call of others.
When discussing our relationship with him, Jesus speaks of commandments, while at the same time saying that we are not going to be called slaves. This is because they commandment we follow is not about duties, or tasks, the type of dirty work we try to avoid. No, it is about nothing less than to be a partner with God in loving.