We have no right except that which might gives us to make our personal choice determine their fates.
Try to imagine if you can: A being superior to you in size or intelligence decides that they "love" your ability to do something that they want you to do for them: run, fight, retrieve, work, entertain, be ridden, or be your on-call companion, for some examples. So they overpower you and make you do their bidding. If you're one of the lucky few, your life is controlled, unnatural, often boring and isolated from most of your kind, but not absolutely cruel. Would you accept that as a right of your owners?
They are not "ours" - not even to love.