I should add that domestication doesn't mean rendering an animal incapable of surviving in the wild, nor does it mean they look to us for leadership, or can learn from us--although in canines, it does manifest that way.

For an EXTREMELY interesting experiment on the nature of domestication, I refer you to this article on domesticated foxes (yes, domesticated):

http://en.wikipedia.org/wiki/Tame_Silver_Fox

The range of species we consider domesticated includes chickens (which obviously don't consider us to be in charge), hogs, horses, cattle, goats, alpaca, llamas, rats, mice, rabbits--the list goes on and on, and includes far more than dogs and cats.