When we say that humans dominate other species on earth, it looks like a one-sided story written by humans themselves. Because we don't have any understanding how animals or insects look at that dominance. Do we know for sure, that all the animals or insects feel dominated by humans in the same way? In many cases, most animals don't even have any idea or sense that humans are enslaving them. If an ant dies, does another ant perceives it as being killed by a human? It's can be a sort of natural disaster at their level. On a similar note, it's equally possible that animals or insects in their own world ( the limit to which they can sense and perceive things ) must be having a similar concept of dominating other species.
If we forget about philosophy for a second, humans clearly began to dominate their environment when they learned how to make tools and weapons and harnessed fire.
Insects are largely oblivious to humans, just as they're oblivious to other creatures that are 10,000 times their size. However, larger vertebrates learned to fear humans long ago.
In the philosophical realm, some religions (e.g. Christianity) teach that humans are superior to animals and should exploit them.
I'm not sure what you mean by animals sensing that they "dominate" other species. Predators are certainly aware of which prey species they're capable of catching and killing. Elephants at a waterhole are clearly aware that they can push smaller animals aside. Some insects "enslave" other insect species.
So your question, as it's written, doesn't make a lot of sense. That humans "dominate" animals is a simple fact. If you're asking about the acceptability of exploiting or harming animals, that's another matter. Different philosophers and philosophies have different views.