Meer |Comrade|

And the example idea that occurred to me was having one character who considers themselves the dominant one, who looks at the other one and thinks "this is my loyal companion, who has served me well and whom I can trust with my life. Though they are sometimes stubborn, and will refuse to obey if they cannot see the logic behind my desicions, I consider them more a friend than mere attendant."

And the other one considers themselves the one in charge, and looks at the other one like "this is my idiot friend, whom I clothe and feed because they can't be trusted to take care of themselves. They are charming in their own way, and I like this idiot too much to leave them to fend for themselves and very likely die."