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First of all, I don't believe that Sauron actually needed Morgoth to return. He was in a pretty good position throughout the Second and Third Ages. True, he did need to create the One Ring, which eventually provided the means to destroy him, but it was only at the very end that this weakness was exploited. Sauron did not have to deal with the foes that Morgoth had in the First Age: heroes like Fingolfin, Beren, Húrin, Finrod by the dozens, and Noldor by the thousands (at least). Sauron was more than up to the challenge of dominating men, through the use of both other men and fearsome spirits such as the Nazgûl, and there were relatively few powerful Eldar to oppose him.
Secondly, I don't believe Sauron had the loyalty to feel an obligation to release his (former?) master. In the example of Ossë and Ulmo we see the nature of the relationship between the Valar and their Maiar. It is not one of complete servitude or devotion, at least not in all instances. Curumo and Sauron both defied Aulë, and even Olórin was not completely faithful to Lórien, preferring to consort with Nienna instead.
So my answer is NO, Sauron would not have released Morgoth from the Void, and had no intention of trying. And I bet that's the first thing Morgoth brings up when they meet again after Sauron's departure from Middle-Earth! That is where Sauron was sent, right?
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