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In any gregarious social animal, there is a hierarchy in the group largely centred around sexuality. I would venture to suggest that SOME subordinate animals of social species (eg. wolves, lions, meerkats, great apes) are to some degree asexual. They don't particularly contest the alpha animals because they don't particularly care if they get to mate or not.
Penguins are birds, not mammals. Many bird species are monogamous. This is rarer in mammals, but some species are monogamous, for example the grey wolf. Incidentally, there are a couple of mammals that lay eggs-the duck-billed platypus and the echidna.