As my profile states I am waiting for “The One” and marriage which will be to “The One.” I fully believe that you can be involved in a D/s relationship without it being only about sex. In fact you could have one completely without sex altogether. To think that sex MUST be including in that equation to be a D/s relationship is as ludicrous as saying that while you are dating someone it is not a real relationship unless you are having sex. I have had a dating relationship before (not D/s) that was very meaningful that did not include sex. And I am sure almost all of you have. To me a D/s relationship is just as meaningful as any loving relationship. It is comprised of love, respect, trust, and the occasional flogging. Its keystone is trust not sex.
I would be just as content to serve my Master doing domestic activities, or giving him a 3 hour back massage. Because my role would be to please him and therefore would make me happy. In response to the whole coffee debate going on - I am sure that my Master would enjoy a great blow job (haven't done that either) as much is not more than a 3 hour massage but I would ask nothing in return or expect because I would feel content knowing that he was enjoying it. Servitude is what would please me because it would please my Master.
I would much rather cuddle than have sex anyway - but then again I don't know what I am missing. I enjoy the emotional closeness than the physical intimacy.