Mistress Zora wanted her feet licked but she did not have anyone to do it. And being a fair mistress, she did not want to use a flimsy excuse to force someone to do it. So she did what she considered was the best way to do it. She paid this guy who was broke and she got him to lick her boots according to how she had instructed him.
Princess Amber knew that there was no way this guy is going to allow her to humiliate him like she wanted to do. She chose, instead, to play her cards right. She flirted with him to distract him and to even get total control over him. He was turned on and she got the control she wanted after which she used her shoe fetish to humiliate him. She made it look like it was naughty when in fact she was humiliating him.
Mistress Mercedes is a very sexy mistress with sexy heels. Mistress Mercedes has a loser slave that is always doing pathetic things for her. She already knows he is going to clean her dirty heels. She will make him do it, and if he refuses he knows he is in deep shit. She will slap the shit out of him and make him lick her heels clean.