I agree with ProDom on this one... you are not doormats and most dominants in fact would prefer not to have one. Most already do have doormats - they put them near their doors with welcome written on them and wipe thier feet on them. They don't do the sort of things to their doormat that they do with their subs or slaves

I have heard many dominants talk about how they like the challenge, they like a sub to be a human being who can challenge them in some way. Pushing a sub's limits in terms of how far you can control them before they start to get frustrated with it is a challenge.

BDSM relationships of this sort are still relationships and relationships do depend on compromise. Ok, there is more compromise by the sub in many cases because that is how a TPE relationship works but the Dom still sometimes needs to flex a little for the good of their sub. If there is something that a sub doesn't like doing, they need to talk about it with thier Dom. The Dom may be generous and let you off with it and never ask you to do it again. On the other hand they may try to push you further by applying punishment. Either way, you will face the challenge. A Dom is responsible for the welfare of the sub and that involves making sure their needs are also met.