Not that I'm a pet, but I would guess they'd want to be free to live out their desires and futures as any human would. Keeping pets other than for practical purposes is merely state approved slavery to satisfy the ego of the human - which is only slightly more sinister than using them for food and labor.
I'm not judging, I eat their flesh. Just calling it for what it is.
I only judge when someone's pet bothers me, which only dogs do.