I strongly disagree. For me, submission is not a pejorative and certainly not limited to adversarial dynamics. You can voluntarily submit to authority, submit your body to manipulation by someone you trust (a surgeon, for example), submit to a court judgement and so on. Violence is only one, and the least desirable, way of establishing a hierarchy. Trust is a better one.

On a religious note, alluding to a thread you started elsewhere - when mystics speak of submission to God's will, they certainly don't mean being beaten and guit-tripped into conformity (the Protestant way), but a voluntary and deep conformance to the deepest structure of reality.