Goddess Lena did not want to have to torture her slave or do something that she would regret. She chose to handle it in a different manner and she did this by forcing the poor slave to lick her socks and when he was done, to do the same to her bare feet. It was degrading but it achieved its purpose and the mistress was able to control her slave.
Mistress Shirley did not feel like having sex but her boyfriend did. So she had to find a way to make him cum without having sex. They undressed and she played with her tits as he watched and he played with his dick. She made him lick her feet and she gave him her feet to fuck after he had licked them. She told him that they were being adventurous but her aim was to get him to cum and he did.