I've followed this thread with interest and I think both Debra and Fran have pinned it down. I do think that right and wrong are subjective and that those who say that animals feel guilt are anthromorphising. Guilt is a very human feeling.
I raise my Basenji to respect me but I also respect them. They listen to me and I 'listen' to them. I see no need for physical discipline. My dogs are taught from the beginning what their limits are. Not to say that they are instantly obedient. They are just normal Basenjis with normal Basenji instincts. Some are unacceptable to me and that is where I draw the line. I believe the tone of voice is very important as is the Basenji's vocalisation.
I feel it's good that we don't always agree - after all it would be a very dull forum if we did!