The poem is based on father-son relation. However, in general, it can be regarded as a parent-child relationship.
You are my father and I, your son.
If you send me somewhere, I will go without a second thought nor doubt your
judgment.
If you demand, or ask something from me, then I shall give it to you.
Considering that the thing in question is under my possession at the required
time.
However, choosing and making final decisions for me means that I have
become a slave and not a son. Thus, you have taken away that free-will which
belongs to every individual. Or, that blessing which the Creator blessed me
with; from the very beginning of the creation.
I can give up all the worldly possessions that are under my control, but never
when it comes to taking away my free-will. Therefore, I wish to remain as a son
to you and not a slave.
I will not trust nor allow my soul to be taken for granted, and humiliated to
such a level of not making up my own choice. No man should become a master
over another. Simply, because every slave must have a master, but a son needs
only a father in life. Nothing more and nothing less!
Some would probably consider it a God relationship, but I am not religious and agree with you that there comes a time, usually in the late teenage years, when the father must give up absolute control and allow the son prosper (or perish) on his own. Unfortunately, some fathers do not seem to know this. And mothers are much worse. ;-)
Ron