You should be picking sacrifice because you don't want to handle pet management, not because it yields the highest damage.
In terms of "difficulty" in getting optimal DPS from the 3 talents it is clear that the difficulty goes: Service > Supremacy > Sacrifice.
Then it obviously makes the most sense that the DPS gain awarded for playing properly should follow the above list. Of course if you are unable to use that extra cooldown optimally, or not controling your pet properly, you should be penalized more than someone who picked sacrifice.
The DPS difference should only be marginal i.e 2-5%, but still enough to reward skillful play.