Cats have entered our homes millennia ago, and we befriended them; some say the impetus was theirs, as they use "meaow" only with us, in an attempt to mimic our vowel laden languages, and the relationship seems to be "you seem to draw joy from my presence, the least you can do is feed and shelter me". I'm not sure "domesticated" does it justice, as to me it implies a sort of subordination.
Independent, clean, discrete, loyal to their personality: it seems a pretty good model of living for humans as well.