Answer: Crusoe masters his servants by earning respect, whereas other masters earned it through violence.
Crusoe is a master who wants to be respected, not feared. Ths is what sets him apart from the Spanish and English masters he left behind. Crusoe shows his disdain for fear and abuse on several occasions. He thinks very litte of the mutineers as well, because he can see that they mistreat their prisoners. This shows that, although Crusoe respects hierarchies and power structures, he believes they need a legitimate source, and that brute force is not enough to claim authority.