There is no greater accomplishment than the human-animal bond. Regardless the species, to attain an animal's trust is one of the most rewarding experiences a human can ever have. Animals do not have to grant us their trust, it is not our God given right. Trust is earned with animals in the same way trust is earned with humans. The only difference is, regardless the baggage of past traumas, most animals love continuously and unconditionally once they learn to trust again.
Asserting one's self as dominant and / or more deserving over an animal is only representing the coward that lies within man. It also represents man's altruistic ego. Some of the world's most grounded and happy cultures worship animals rather than taking on the idea that animals were put here for the benefit of man.
Animals are much more primal than humans, to love us unconditionally is not only their choice, but it is also unnatural for them since it is clear that we've given them so much to fear about us.
So, to ride your horse, to walk your dog or to read a book with your cat in your lap is a gift that should not be taken for granted. I think sometimes we forget that all animals of domesticated parents or not, are born wild. Those who truly grasp this concept share the deepest connection and benefit most from the gifts they have to offer us.