Yes, a domina gets something out of it too.
It can be akin to flirting. When a person flirts with you, or pays you a compliment, you can be intrigued, flattered, appreciative. You might even be aroused over a suggestion from the right person.
It is quite a similiar feeling when you first have someone show a form of submission. All those feelings can happen, depending on the person offering.
If a relationship starts developing, you move from flattery, to it being a sign of respect, or of being obeyed.
but in the beginning, I know for me, I can enjoy when the grocery boys call me Ma`am,
Or when someone bows down and kisses my hand.
Much like anything else, it also depends on 'who' is offering themselves, and what you feel their angle is.