So, if you become enslaved, is it okay to kill your jailers and free yourself? I mean, that wouldn’t exactly be “obeying,” would it?
I would say that would depend on the manner of slavery. If as a result (assume historical context here) of a war campaign and you did not surrender but were captured, then I would say that you have the right to continue to resist. Does that right to resist extend to the right of killing? The short answer is no. Just as with modern laws of warfare, if you are captured, killing a guard in an attempt to escape can and often is punished as murder. You may attempt to run away, but you can not kill someone in your attempt.
If the manner of enslavement was VOLUNTARY (again, assume historical context) as in selling yourself to pay off your debts (no bankrupts court in ancient times). Then you do not even have the right to resist. You have to serve your time. That is why there was a limit to the slavery.
If you were made a slave by factor of birth, then once again, I believe you have the right to resist by leaving. I do not believe you have the right to kill someone in your attempt to run away.