If he wants you to dominate him, it is a gift that you should enjoy. He will be aroused just by you having fun. As an example Strip him naked, get into bed and have him stroke and caress you. Make sure he does it slowly and gently. It must feel good, if it does not, grab his balls and squeeze until you get the desired results. Don't let him stop until you are ready. You are in control, and he must do your every desire.
Next tie his hands behind his back and then think of something he has done to irritate you in the last week. Gently hold his balls in your left hand and start to squeeze as you tell him how he has not been cleaning up after himself. Then with your right hand give them a quick slap. You will see an erection. An added bonus is that he will think twice before he leaves things lying around, or whatever behavior modification you would like to achieve. Then grab his hair at the back of his neck (the most sensitive location) and pull him down to his knees. If you have a riding crop, you can give him a whack on his butt as you tell him to get to work. If he is not giving good oral sex, whip his butt, and tell him to slow down/speed up or whatever he needs to do. By telling him what you want, it will increase his arousal. The combination of pleasure and pain can be very powerful. Playing around like this can go on for a long time.
When you are ready sit him down on a chair that does not have arm rests. Then sit on his lap facing him. He will be powerless to resist your advances.