The reasons as to why other races are enslaved are the same as to why human are considered the dominant species:
1. Human Recovery: Unlike long living races (Elves,...) human live shorter lives, which causes them to reproduce more often then Elves. Given the sheer quantity of humans, loosing 1000 human soldiers to kill a single elven warrior will hurt the elves more in the long run, especially because training those soldiers can be done in a few months/years, while said elven warrior took decades to get to his skill.
Since humans can recover their losses in manpower more quickly than elves, they tend to win drawn out conflicts simply by whittling away their opponents forces.
2. Human Adaptability: Unlike dwarves and other races that are specialized towards one type of environment (underground, ocean, etc.), humans can prosper nearly anywhere. More variety of space leads to more inventions to tackle problems, allowing humans to even prove a challenge for other races in their specialized environment.
3. Humans Drive: Unlike truly powerfull races (Giants, Dragons, ...), humans are driven for improvement and survival. Said strong races however have a problem: To improve, they'd either have to challenge equally strong foes (thus cutting down their numbers), destroy everything around them (and starving to death) or simply sleep away the time to allow new food to come, thus limiting their achievements.
Dragons still are considered fearsome apex creatures, but their limited activity makes it less likely to rule the whole world, whereas humans can thrive even in the most desolate places, growing their strength and pushing towards better places.
4. Human Intelligence: Any race that falls behind in an arms race will lose sooner or later
5. Humans Control of their Instincts: While still driven by instincts, human tend to be a lot less influenced by them than Orcs, Trolls, etc. allowing them to take different approaches to a problem instead of falling into a fight, flight or f*ck mindset.
6. Human Base Stats: While other races (depending on author gnomes, kobolds, goblins, ...) fulfill many of the above criteria, their base stats tend to be lower than human, making their starting point even harder than for their human equivalent.
As a school allegory:
- Dragons know it all, never learn, sleep all day, ace all tests, and maybe fail the finals
- Elves ace all tests and the finals, but repeat each year ten times to do so.
- Dwarves ace their blacksmith and mining exams but fail all others
- Giants get by on a PE scholarship
- Orcs get thrown out of school for beating up the teacher
- Goblins get thrown out of school for trying to r*pe the teacher
- Humans study everyday, work their a** off and pass the final only to continue improving until they either die or become successful
- Lizardmen usually got lost in the swam and never made it to school
- ...