For viewing your slave's activities, you need to convert a room to an Office space. When you have that, there is an occupancy ledger you can view that shows what your slaves were doing for that day.
I am not sure what you mean by 'bring them out', when you refer to characters you met in the Watering Hole. If you are referring to moving them into the Mansion, I am pretty sure that you can't do that. You would need to export their character and then import them back into the game.
You don't have to make them a slave though, you can go to Town Hall and there should be a tile with a purple icon, with a button that says Lodgers. When you go into that screen, there should be an option to Import characters. It won't be your bar buddy, but they will have all the same gear and kinks