Expressing "I" "me" with self-effacement

In many cultures, one is not supposed to say the counter parts of "I" or "me" to another person of higher rank, say a king. Instead, they would say something like "your servant", "the humble one" etc.

I wonder if in the royal courts of ancient times, there are any examples for one to self-efface himself when talking to a king/emperor etc, other than just call the other with “your Majesty”, “your grace.”

I have seen in the novel a song of ice and fire by GRRM that a slave called himself “this one” when talking to a queen， but I am not sure if this happened in real history.