22 (The Pilgrimage):
22:77 O ye who believe! Bow down and prostrate yourselves, and worship your Lord, and do good, that haply ye may prosper.
22:78 And strive for Allah with the endeavour which is His right. He hath chosen you and hath not laid upon you in religion any hardship; the faith of your father Abraham (is yours). He hath named you Muslims of old time and in this (Scripture), that the messenger may be a witness against you, and that ye may be witnesses against mankind. So establish worship, pay the poor-due, and hold fast to Allah. He is your Protecting friend. A blessed Patron and a blessed Helper!
7:22 For he that is called in the Lord, being a servant, is the Lord's freeman: likewise also he that is called, being free, is Christ's servant.
2:18 Servants, be subject to your masters with all fear; not only to the good and gentle, but also to the forward.
2:19 For this is thankworthy, if a man for conscience toward God endure grief, suffering wrongfully.
2:20 For what glory is it, if, when ye be buffeted for your faults, ye shall take it patiently? but if, when ye do well, and suffer for it, ye take it patiently, this is acceptable with God.
The overwhelming majority of Christians and Muslims, when asked, will admit that a non-believer in their religions can be good without their particular gods. They might argue however that is not good enough to attain Paradise. No matter how good you are, you are still bound for Hell.
Professional apologists (preachers and imams) will argue however, you need to be a slave to do good. They will use those verses/surahs above (and others) to support their religious position you must become a slave to an idea. You cannot do good until you are first a slave of Allah or Christ. You must entirely submit your will (become a slave) to be a moral person.
Slaves do what they are ordered to do, or they are punished. Thus you get people flying planes into buildings or shooting up and blowing up abortion clinics. When God/Allah orders you to do something you’d better do it, with the penalty of your immortal soul.
In secular morality, slavery is repugnant as a moral concept. Owning people as property is morally bankrupt. Forcing them to think as you because you will it is a violation of free will, the very concept Islam and Christianity claim you have. To a secular person, a moral person held as a slave would resist if possible, escape if possible, and take as many other slaves with him or her if possible. In the USA, we fought a civil war over this idea.
The analogy I learned in the military to this concerns prisoners-of-war. The US Military Code of Conduct addresses the issue of a POW, which in a sense is analogous to a slave (and ofttimes POWs are enslaved to the war effort of an enemy). You are required to memorise the Code of Conduct word-for-word in boot camp, including Article Three:
“If I am captured I will continue to resist by all means available. I will make every effort to escape and aid others to escape. I will accept neither parole nor special favors from the enemy.”
US Air Force Website, the articles of the Code of Conduct
Resisting slavery is the moral position, not submitting to it. Religions such as Christianity and Islam want you to submit, because when you submit, you stop resisting. You stop thinking about why you believe what you believe.