Yes, lots of people say so. Some even say we live in our cats’ house 😄
Imo, they consider you as a slave only if you let them do whatever they want with you.
First I never let my cat (when he was alive) sleep in my bed. Bedroom is a forbidden zone for him. (Same if it was a dog). Kitchen as well. I let him in only if I give them special treats (piece of cheese or ham,..) : he often get some with 😂
Garden was his kingdom (he chase all the others cats, except the neighbors’ one : they seemed to set an alliance 😆 i saw them once chase one from two sides !) but inside the house, he has to behave. I think I only slap his back once or twice 😄