The "Cleaning Services" people in the U.S. and I suspect Europe are either independent contractors or wage workers for an independent contractor. They don't do 8-plus hour shifts in your home, or even live in your own home in "servants' quarters" as is common in places like India, Brazil, etc.
In a "servant" relationship involving close physical proximity the servant almost is obliged to care for the emotional well-being of those whom they serve, or to at least feign that care. The contractor on the other hand is doing a job at your home in one of many such places and aren't expected to service the customer's emotional needs except as social nicety, and conceivably are raking in more cash per unit-time worked (for independents especially) than those who hire them.
Servant living in someones quarters is dependent on his employer. Such person probably does not have enough freedom to change employer.
Contractor on the other hand should be able to refuse to work for someone if he does not like it and find another customer. So it should be more of a partnership relation.
In reality of course it is not so clear cut, but personal freedom element is more important for me than "emotional well-being" or "social nicety". Especially because I would expect "social nicety" from any contractor I hire and if I would have to deal with obnoxious contractor I would not hire them again. But of course I would not expect them to know my children names.
In a "servant" relationship involving close physical proximity the servant almost is obliged to care for the emotional well-being of those whom they serve, or to at least feign that care. The contractor on the other hand is doing a job at your home in one of many such places and aren't expected to service the customer's emotional needs except as social nicety, and conceivably are raking in more cash per unit-time worked (for independents especially) than those who hire them.
The "Cleaning Services" aren't servants.
edit: emotional "connection", relative wages