True, True. I share your perspective. I find the general use of the word 'exploitation' to be troublesome as it implies taking advantage of a being even when it's voluntary. Animals consent with their body language and I believe voluntary and symbiotic relationships can be formed with them.

Needless to say force milking a cow and subjecting it to any violence is not in line with Ahimsa, however the traditional practice of milking a cow after it's calf has been fed, inflicts no harm and is voluntary if the cow is not resisting. Moreover, the cows are not subjected to forced insemination and are left to breed with bulls on their own accord.