The answer is::, yes of course you dont need coersion or force nessesarally, it all depends on the desires of the individuals involved sis.

I would have to say 90% of the things i do for my owner are not driven out of fear or threat of pain or being forced, but love,,,, the other 10% of the time if i resist or bring down disipline upon me its becuase he wants me too or i am testing his resolve and asked for it.

Each to there own,