Taking сare of someone doesn't necessarily mean that you do it because you're that person's authority. You're much more inclined to take care of somebody when there's a loving relationship. I have loving relationships with some of my godbrothers. They're not my `authority', although I respect them as my superiors. But I know that if something happened to me that they would fly across the world in a moment.
Taking Care of Devotees, Pg. 62, 2nd paragraph