The superior man serves his ruler in such a way that, when at court in his presence, his thought is how to discharge his loyal duty to the utmost, and when he retires from it, his thought is how to amend his errors. He carries out with deference the measures springing from his excellent qualities and rectifies him (only) to save him from what are evil. Hence, as the superior and inferior, they are able to have affection for each other.

(The Doctrine of Filial Piety)