This should help you get your head around it.....
there's a valve in the system, a rotary one. One side is connected to the wheels and the other side connected to the steering wheel. They're joined with a flexible shaft.
If you're going straight ahead, the two halves of the valve are both aligned and the valve is effectively closed. The pump produces a nominal pressure which is quite low and most of it is short-circuited past the steer valve.
If you steer either way, your steering input twists the flexible shaft, allowing the two halves of the steer valve to move relative to each other and this opens the valve. The nominal pressure from the pump is fed to the steering box and the pressure assists your steering input.
Now here's the important bit. As soon as you stop moving the steering wheel, the wheels will become aligned to where you want and the two halves of the steer valve catch up to each other. The assistance drops to near nothing, but of course the car is now going round in a circle. You need to reverse the process to get back to a straight line.
It's actually easy to think about it as "steer input" or "no steer input". A steer input is when you're actually moving the steering wheel and the valve is open. Merely holding the steering wheel to one side isn't an input as nothing is happening inside either the box or the pump.
The steering pump is sized to provide the greatest pressure when the valve is fully open, which is either when the steering wheel is being moved fast enough to open the steer valve fully or when you've reached full lock. The pump has a "trick" pressure-setting valve in it, providing the nominal pressure at all times irrespective of the flow rate, only being overloaded at full output ( i.e. full lock ). There is also a master pressure relief valve, preventing the pump stalling out. The normal tests for a power-assisted steering system are for the nominal pressure ( as a guess 5 bar ) and for the master pressure relief ( as a guess 125bar ). It's quite a big pump.
The servotronic valve is a bit of a fudge in that it allows some of the nominal pressure to bleed back to the reservoir without going near the steer valve. It opens and shuts regularly, at a rate controlled by the "relay". More "open", less "closed" = harder to turn steering = more steer "feel".
Removing the relay or disconnecting the solenoid is a good way to diagnose the system as for safety's sake it reverts to a non-servotronic mode whenever there's a fault.