Princess
The woman servant is the lower ranking princess. The queen is no servant. Hecks no. Just the princess, because she's a servant to what her parents tell her to do.
Just imagine a princess saying "UGH, I'm just like a servant, I have to do all the crap you tell me." Then, all the servants roll their eyes, because, really, she's a princess, lucky duck.
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ひめ
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The princess goes on to do whatever she wants. She tells the real servants, "Don't tell my daddy, the king, I did this. He may (ひめ) not like it."
The servants all know they should tell the king, because the princess is a servant to the king, just as they are, plus they don't want to lose their heads.