As far as I’m concerned with most games I’ve played that dealt with taking care of slaves, it isn’t easy for them to break that habit, especially if they develop intense loyalty to you. They perceive you much higher than others because of your kindness and grow the desire to serve you, and probably only you.
Oh, and Ryoko is kind of just… content with the current master-servant relationship she has with Ryo (p.s: default name), so why bother changing it?