I think the best way to keep from confusing people is by keeping it in context of the rest of the passage. The church, as Paul has been describing, until the coming of Christ and the full, legal ratification of the Covenant in his blood, was yet in a infantile, or childish state. Thus it was under wards. Paidagogos is sometimes translated tutors, but this isn't really the best translation: it refers to the servant who forces, who makes sure that the child does their lessons, and listens to the teachers, and finishes their exercises, etc. Thus, until Christ came, and the spirit was given in full measure, and the church established in its present form, Torah and its regulations served as the paidagogos that kept the infant church's eyes upon Christ, and believing and obeying him. Its rituals, its feats, its sacrifices, etc., all these things forced the people to continually look to the promise, look to the coming Christ. And so was the church treated as a servant, or a slave--being required to do many things which a free and adopted son does not have to do, a son who is at liberty and in possession of his inheritance as we are. Israel was treated as a servant, not because it was saved differently, but because it was still awaiting to come to full age (i.e., to receive full revelation, and the spirit working in the church to guide, direct and discipline her), and so required taskmasters to keep her focused and on track.