What did they think?

[Kuruharan]

The orcs viewed themselves as courageous and indispensable at being sent as the front line of attack
-mormegil

I’m not so sure about that, but…

Men were a bit more intelligent and realized that they, the orcs, were being used as fodder to soften up the opposition and would rather be used for the more strategic and final blow offensive
-mormegil

…that is plausible.

Sauron's and Saruman's men would feel themselves to be superior to orcs and would probably find working with them distasteful but they would accept what they would see as a temporary situation that would benifit them in the end.Selmo

Hmmm…I don’t know how temporary it was. It seemed to be a permanent fixture of their terms of service.

They might believe that once the West was defeated, men would have the upper hand and get rid of, or lord it over, orcs.Selmo

…that is plausible.

I wonder how the orcs played into the theology of the Sauron (Morgoth) worshiping Men. I’m sure the Nazgul probably had some significance, but what about orcs?