Mistress Gaia does not take misbehavior kindly. Her slave misbehaved and he did it in front of her visitors. She downplayed it until the visitors left then she dealt with him. She made sure he learned his lesson as she whipped and spanked him to make sure it would never happen again. He cried and wished he had never done what he did. The pain was not worth him repeating his mistake.
Mistress Jane and mistress Zora wanted this guy's submission but he refused. So they used whips to spank him and to make sure he was feeling the sort of pain he had only heard about and he thought he would not make it. But the mistresses knew their limits and when they reached those limits, they stopped and asked the guy to get up and leave immediately, which he did.