Having her slave make her dinner is important to Maia, but then again so are clean shoes. He doesn't expect her to walk around in dirty shoes now does he? That's why he is groveling on the floor licking them clean. But he needs to be quick about it because dinner also needs to be prepared, and that's where application of the whip is always helpful. It lets the slave know that he needs to finish his current task promptly because another task is already waiting for him.