"You have not offended me," Daneel says at once, though he's listening to the emotional fall of her mind with some concern. "You merely surprised me. I'm not making any effort to hide what I am, but neither are many here able to identify me as non-human so immediately. We need not discuss your abilities further, if it distresses you."

Human or not -- and it doesn't escape him that she gave him an incomplete answer -- if he is going to judge all sentients as equal under his programming's definition of human, then he can't make her uncomfortable without a very good reason.