I think the premise is on some level alright, but to me the problem is actually in the execution. I read the manga as the mistress commanding the maid to give her a real answer to her next approach, and then bringing the top energy. But I think the flow of the conversation and the specific words used made it seem like she was commanding the maid to go out with her, which is... eh.
On the one hand, I agree with Kirin (as usual) that without the support to keep everything in the realm of fantasy, you run the risk of your scenario resonating with real abuses of power that makes it feel like oppression, rather than sexy fantasy ones á la a BDSM scene. My interpretation--that she was only, "commanding" the maid to give her a direct answer--might be wrong, but if it's right, I think we have less of a case of abuse of power and more of the author/TL team (I can't read JP so I wouldn't know) possibly flubbing the delivery into squick territory.
With that in mind, I think it becomes a question of execution.