Two categories of women have been excluded from the general command of guarding the private parts: (a) wives, (b) women who are legally in one%u2019s possession, i.e. slave-girls. Thus the verse clearly lays down the law that one is allowed to have sexual relation with one%u2019s slave-girl as with one%u2019s wife, the basis being possession and not marriage. If marriage had been the condition, the slave-girl also would have been included among the wives, and there was no need to mention them separately. (Ibid. p. 241, note 7)
The main point in this section, which Maududi overlooks or refuses to criticize, is that Muhammad himself endorses not only the entire institution of slavery, but also sex between male owners and their female slaves within this institution. But how can he and devout Muslims criticize their prophet without seriously damaging Islam? But Muslims must do this, if they think clearly and critically, and for the good of humanity.
It should be noted that Sura 70:29-30, also revealed in Mecca, uses nearly the identical words as Sura 23:5-6. Men must guard their private parts from everyone but their wives and slave-girls, meaning that men may have sex with both "categories" (Maududi%u2019s word).