Of course. You can set free your slaves and keep those who wants as servants, in exchange for room and board. Occasionally you can make gifts, including money, but nobody use to pay for services in that era when the work force was for free.
You can RP about how well you treat your people and how loyal they are to you.
"Even they was set free, they decide to stay with you, because they love you", something like that.

I'll tell you something: I'm the Archon of Teuton tribe, but never RP about any slaves serving me. I invented a primitive way of life for my char. that doesn't involve any servants. For example the Archon of the tribe brings water from the river as any other member of the tribe.

It's not fit for Roman way of life, but it's accurate. As I told you, nobody is "forced" to RP about slave usage if he don't want to and it's up to our imagination to avoid this, but still keeping the life style and social conventions of the times.

It's still your char. who live there, not you and it's up to everybody to create his char. as he pleases, not necessary as a mirror of the person you are. You can be a kind and gentle person in RL but still your char. could be a brute, that's the role-play.