Lady Zora and her friend wanted to find out how strong this guy's oral game was. And so they asked or rather forced him to lick their feet and they told him to do his best. He was humiliated but he knew it was something important for him to do. And he did not hesitate to put his best foot forward to make sure he gave them his best effort.
Lady Zora needed this guy to fear her because she knew that if he did, then it would be easy for her to do her thing and to use him to achieve her goals. So she got him to lick her boots and to endure a little trampling. Once he was convinced that she was a badass, she told him what she wanted him to do for her and he did it.