At this point we still cannot actually negotiate with our pets to establish a mutually satisfactory relationship.
Domesticated animals are animals that co-evolved with modern humans (lately with a lot of human selection). Some of our practices towards our pets are barbaric now. For instance, purposefully breeding worse and worse genes to get a flatter face despite the misery this causes the dogs.
But in other ways, dogs and cats still can't make choices about things that would allow us to treat them as equals.
For instance, we forcibly sterilize cats and dogs so they don't breed and contribute to the overpopulation problem. We restrict their movement so they do not endanger others or themselves. Outdoor cats are an environmental catastrophe in most areas.
It's tough to know what the right treatment of a pet is. I do believe we've gotten better. It used to be common for vets to not give pain meds to dogs recovering from surgery. I guess it's easier to ignore the pain when they can't talk to you. It also used to be common to shoot a dog who has broken a leg. I recently had a dog who had osteosarcoma. We paid to have his leg amputated and for chemo. Our conversations with the vet were nearly identical to how I'd approach getting cancer. Some people thought we were nuts paying for such care.
Cats are still treated as disposable by many people. One step above a goldfish. Meanwhile, some people are starting to actually take koi fish in to vets for treatment.
If you treat your pets as individual lives worthy of dignity and let that inform your thinking, I imagine you're already better than most of human history's brutally utilitarian approach.