Ai no Kusabi [wedge of love] is probably the master of anime S&M (its not just an anime either it's also a manga series, a book, and a radio play). Tangura is a planet run by the super computer Jupiter. On Tangura there is a rather strange class system consisting of Blondies, Furniture, Pets, and Mongrels. You can read about it here.
The Anime and half of the book center around Iason Mink (a Blondie) and Riki the Dark (a Mongrel that becomes a pet to none other than Iason). Their relationship begins when Iason, for unknown reasons, saves Riki's life. Riki feels he must repay Iason and since he doesn't hold any real footing in the Tangura class structure all he has is his body.
Not that Iason fully has a problem with that, but as Riki isn't typical pet material. It takes Iason three years to train him into one. Which seems to involve all sorts of marvelous devices like chains, drugs, pet rings, and Daryl (Iason's Furniture). Iason also breaks many rules in his relationship with Riki. He keeps Riki past the typical pet age, he also has sex with him, both acts cause his friend Raoul (another Blondie) and Jupiter to attempt to warn him. He doesn't listen to either of them though.
After the three-year training period, in somewhat the belief of "if you love something set it free," Iason lets Riki go. He doesn't take his name off the pet registry and a year later reclaims him. There's more to that phrase though, and the ending plays out in a rather sad way. The anime is highly recommended, you can find it at many fansub distributor sites.
The relationship between Iason and Riki is that of the master and pet. It's also somewhat of a love hate thing. Riki's love is forced, and a little lethargic in presenting itself as genuine. Iason wants Riki as a slave but overtime falls in love with him and wants Riki to love him back. It's an interesting relationship.
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