I am going to approach this from a funny kind of angle.
The truth is that, as a matter of fact, pet-ownership is slavery, and pretending it isn't would be merely dishonest. Our society merely accepts this. We accept that we are allowed to own animals as chattel property that we have literal power of life and death over. The "animal rights" laws are really paper thin in actual practice: if you want your animal dead, then feel free to turn it over to a shelter that you know has a low adoption rate and a high kill-rate. Your animal has no civil freedoms at all. It is legal slavery. If someone calls it something besides slavery, then that person is a liar.
Furthermore, local extermination of "homeless" animals is really just ethnic cleansing. While they do impact the environment in some cases, so do we humans, and so go some of the more riotous Gypsies in Romania. It doesn't mean that we would let the Romanian government start gassing Gypsies to "protect the environment." It's ethnic cleansing if not outright genocide. We could argue that, in spite of the harm they do, those "homeless" animals have just as much (and as little) right to be there as we do.
Also, the entire concept of "I speak for those that can't speak for themselves" is just affirming the view that the animals themselves don't really have any right to self-determination, so even this seemingly "benevolent" or "chivalrous" objectification really constitutes a repudiation of the animal's right to individual autonomy. In the end, it's not really "humanitarian" thinking but more...human chauvinist. I really don't have much respect for that tone of "humanitarianism."
"Leash laws" really constitute the hostile criminalization of animal vagrancy, and in counties where all the shelters have high kill rates, it's like the homeless are being put to death for being homeless, regardless of whether or not they have actually committed a crime.
A dog acting in its own self-defense is put to death.
Speaking completely realistically, society really treats their animals like garbage.
None of that was our idea. We did not put a gun to society's head and tell them, "Enslave the animals, so we can use them as sex slaves." In the end, if we're going to have animal slaves, they are going to be slaves, whether or not they are also our sexual partners. Chastity is not going to make it okay. It's not more "pure" just due to a lack of sex, and pretending it is constitutes crass prudery.
If I choose to keep an animal as a slave, then I am no more guilty than anyone else that keeps an animal as a slave, regardless of whether or not I have sex with my animal. It would be slavery, either way. At least if I am having sex with my animal, I am giving my animal more attention and love than a yuppie family in Wilmington, Delaware gives to their neglected pooch that is no longer a puppy. In most households, dogs cease to exist when they are no longer puppies. They are lucky to be let out to piss instead of just taken to a shelter for pissing the rug too many times. Most families that want a pet don't want an adult animal. They want a living baby doll. They want a puppy.
Well, we do kind of like the puppies, but we are really more interested in the animal during its adulthood. Some of us might even sign up for having someone else raise the animal as a puppy, and when the animal is no longer a puppy, they can give us the animal for us to fuck. Come to think of it, it feels kind of creepy to fuck someone you knew as an infant. If some Yuppie family in Delaware wants to give their adult dog to a local zoophile instead of taking it to a shelter, then they may feel free to.
Ultimately, I would argue that zoophiles really do their animals less of a disservice than the majority of pet-owners. Maybe it's still slavery, but we don't lose interest in the animal just because it's reached adulthood. The way we are interested in it just changes.
Someday, maybe society will realize that zoophilia is the best way to continue appreciating an adult animal, and it will be considered to be an obligation for families that own pets to fuck them in order to help them continue feeling appreciated and loved. So you call your pet a part of your family? Great. Last time I checked, unrelated adults that consider themselves each others' family are almost always sexual partners. The animal deserves to be something to you besides a living baby doll.
Quite honestly, I just might feel a little bit superior.