Master/servant relations were pretty variable, but tended to be not nearly as formal/rigid as you see in the 19c. A lot depends, obviously, on the size & nature of the household & the kind of work the servants would be doing, as well as the personalities.
The best book on the subject I know is Domestic Enemies by Cissie Fairchilds (Johns Hopkins Press, 1984).
A couple more semi-random general points on the topic:
-- Everybody had servants, unless you were practically destitute yourself. Most household had a single servant, who was usually a woman (the maid of all work - literally). This includes households consisting of a single person, as well as households of families.
-- Servants who slept in the house (not universal) slept on the floor, generally in the room where they did most of their work - for the householder's personal attendant(s) this meant, yes, they slept in the bedroom. It was considered proper for servants to be provided with bedding of some kind (e.g. a straw pallet that could be moved out of the way during the day).
-- Women servants were frequently seduced or raped by men in the household (sometimes the master, often the master's grown sons, sometimes by other servants). If they got pregnant or a scandal of any kind occurred, they'd be out of a job. If not, it might continue for years. Same thing for male servants, except less frequently, and they never got pregnant themselves. (But there could be scandal, oh yes indeed. The Princess de Condé was locked up for life after a somewhat murky incident involving a former page, who ran for his life but didn't get far, and slightly higher-status youth in the household who had to flee the country and make his fortune abroad.)
The wealthier & grander the household, the more important it was to have lots and lots of servants (generic term: valet or lackey, the English version is usually footman or groom) who basically were hired to stand around and do nothing all day. Conspicuously do nothing, that is, somewhere people could see them doing nothing while wearing the household livery (typically denoted by a bunch of ribbons on the shoulder). In principle their job was to stand ready to run errands when needed, but really their job was to stand around and demonstrate that the household was rich enough to be able to afford to keep a dozen or more able-bodied young men hanging around doing nothing. Same for the pages hanging around an elegant lady -- they were handy to run errands & such, but were mainly prized for being pretty & mostly pointless impedimenta. Idle lackeys were notoriously insolent and quarrelsome - they tended to consider themselves superior to everybody who wasn't part of their own household, and they had lots of time and cash to get drunk and rowdy in the streets.
"Upstairs" and "downstairs" were therefore not really much separated in the 17-18c. If you needed a servant for something, you shouted. If you wanted to have some private time (solo or in company) without servants watching or listening. well... you were probably out of luck unless you paid them to leave you alone for a while. (If you were in the habit of wanting private time, you probably made a standing arrangement with your servants so they would know when you really didn't want to be disturbed.)