I am a Noahide. Jews viewing non-Jews as slaves is a pervasive, if not prominent, view. For example, Rabbi Ovadia Yosef was infamous for boldly stating
"Goyim were born only to serve us. Without that, they have no place in the world"
Yet he had thousands of students, was honored numerous times and served as the Chief Sephardic Rabbi of Israel for ten years. Even in death he is referred to as "...one of the foremost Talmudic authorities of his generation." "...there has never been a rabbi as great as him."
Contrast that with another Sephardic Rabbi, Maimonides:
"Anyone who accepts upon himself the fulfillment of these seven mitzvot and is precise in their observance is considered one of "the pious among the gentiles" and will merit a share in the world to come."
And the oft-quoted section from the Talmud:
"...a gentile who engages in Torah study is considered like a High Priest."
The Noahide Laws have only one positive command: Establish courts of justice. No slave does that. No slave creates a court system, appoints judges, decides matters of civil and religious law. God gave Noahides seven laws, and Maimonides said, "...through Moses our Teacher we were informed that the Sons of Noah had already been commanded to observe them." Had God commanded the sons of Noah to serve the Jews, I'm sure He would have informed us first.
A Noahide man is a free man.