Yeah but why the heck would a sentient being want to serve anyone? It will be useless, they will want jobs or just have fun. They don't need to slave for anyone. That is why its useless, because you can't sell people as property and they aren't going to do anyone's dishes for no reason...
I don't know if we can program consciousness, do you have any other idea of how to create true intelligence using anything other than the human brain and growing up? That is why I think we will only have conscious AI through simulating the brain, and then it will need to learn. If we let it learn we would obviously devise complex ways of making it as close to human as possible so it grows up actually capable of being intelligent. Then it would have those traits.
Humans are cognizant beings and yet throughout history there have been people who openly chose to serve others. It was their calling. In a lesser capacity a mother serves her offsprings. Not nessecarily with the mindset of I am your servant, but none the less puts them before herself. IScience suggests this is part of our own programming. That need we have for social connections and a place in a community. It's why you will always be pleased when you get a good report at work or school, it means you are recognised and are meeting some programmed need to find your place in things.
The feelings of Pain are sensory input of damage that compromises our function or risks greater harm is not averted, I imagine self diagnostics and system failures and damage would be an important feature of any robotic system. A sense of self preservation can be risky if it superscede all others right. That's why weighing cost to self vs cost to 'my community/family' is important in biologicals.
Sure we can make a mind without mimicing human brains and growing them up. You get a system with a programed ability to function autonomously but being able to respond to sensory input and learn from it. Then you have it programmed for certain fuctions by long scripts of act and react series of actions (a bit like a cross between the chat bot AI site I posted a while ago, and the new manufacturing bots that you move it's limbs in a programmed way and it records it as instructions for what to do in a set situation. Then you make copies of that programming and let many bots start up and refine the programming by real world feedback, and again trade the more refined programming around them all. Eventually you get a bot that can function well enough in the real world and learn from there. It becomes a point where there is no further need to dip into it's program and it no longer needs full system upgrades to interact. But should it want to learn a new skill it may be able to down load it from another bot.