I think there needs to be some breakdown of what you mean by authority. With your dog I presume you're its 'master', where you feed and shelter the animal? Do you also play with it, and give it peace when it rests? If so, and you're the one the dog has bonded with in these matters, then it's not a stretch to figure that it sees reason to obey you. I'm not sure about how to approach the idea comprehensively, however. Human beings might come down to the same basic principles eg. with food, with rest, with the myriad ways to play, but I'm not sure conscience for the human being comes down to "you gave me all of these, therefore I owe you".

I'm a fan of Tao Te Ching. In it, there are constant reiterations of breaking down knowledge into numbered, interlocking concepts. Ones I've noticed are the 3s:

eg. 3

Not to value and employ men of superior ability is the way to keep the people from rivalry among themselves;
not to prize articles which are difficult to procure is the way to keep them from becoming thieves
not to show them what is likely to excite their desires is the way to keep their minds from disorder.

the 4s:

eg. 22

He is free from self-display, and therefore he shines;
from self-assertion, and therefore he is distinguished;
from self-boasting, and therefore his merit is acknowledged;
from self-complacency, and therefore he acquires superiority.

and the 6s:

eg. 2

So it is that existence and non-existence give birth the one to (the idea of) the other;
that difficulty and ease produce the one (the idea of) the other;
that length and shortness fashion out the one the figure of the other;
that (the ideas of) height and lowness arise from the contrast of the one with the other;
that the musical notes and tones become harmonious through the relation of one with another;
and that being before and behind give the idea of one following another.

What about authority can be teased out from these? Is it appropriate to be more skilled than another to have authority? Does the successful procurement of goods (and maybe services) lead one to have rights over them others do not, thus making one an authority? If one can entertain another's motive to obey them does that leave the other with any alternative? Is this authority?

Or is it more stepping out of bounds in regards to imperatives such as these? Like self-display, where the person should show up something the authority doesn't like? What would be the authority preventing self display? When will it act against such?

Self assertion? Could there be something about it that threatens an authority? Why? Who would the person asserting deem an authority? Where would assertion stop at rebelling against authority?

Self boasting? What does an authority care about a conscienceless person? Who decides what a non conscientious person has the right brag about it anyway? How will an authority contain it?

Self complacency? How does conscience aid one's pleasure in doing good deeds? When is conscience enough, so that authority isn't necessary (or taboo, for that matter)? Why does any of it matter?

…

Some questions for you (some more rhetorical than others). I will leave this as is and perhaps get to the 6s depending upon your reply.