As Goldenrivett has pointed out, slip is an inherent feature of a conventionally constructed tyre. To get any forces from it (lateral, braking) you expect to have some measure of slippage, i.e. the direction the tyre is pointing and the direction it is going are different and/or there is average relative motion between the tread and the surface.
This is completely transparent to the pilot as they simply apply enough steering to track down the centreline and the slip angle looks after itself.