Some say cats domesticated themselves, in order to live with humans and live of our rats in the fields. Humans didn't originally choose to domesticate cats, kind of how we didn't domesticate the raccoon to munch on our trash today. That sort of makes sense.
About cats domesticating humans, cats sometimes say "you're mine" using body language, meaning that they either believe they own us, instead of the other way around, or we don't know cat language. Off topic, but cat also seem to hang around in the back streets, fight eachother, just like in in da hood.
I'd say cats are more independent from humans than some dogs, i could be wrong, but i never heard of a 'street poodle' before.