Think about how that incident went down:
Yeshua: "I'm going to wash your feet"
Peter: "No, don't wash my feet"
Yeshua: "I'm going to wash your feet"
Peter: "Not just my feet, wash my hands and face too"
Yeshua: "I'm going to wash your feet"
Peter: "Yes master"
That's a great illustration of servant leadership. He was acting as a servant, but choosing to do so as a leader. It was he who decided exactly what he was going to do, and he did exactly that, regardless of anyone's objections. Having a wife and seven children and washing all of their feet at Passover last year, I am well aware of the range of reactions that different people can have to that - nevertheless they all got their feet washed whether they wanted to or not!