If a person is addressed formally with a title, it seems to vary from language to language (and to some extent within a single language) whether a word like "Mr" or "Herr" (German) is used. In Finnish the word "herra" or "rouva" (Mr or Mrs) is always used in front of titles like professor, major, and minister in formal address. In English such a Mr(s)-word is typically not used; I have heard "Mr President" but not "Mr Professor" or "Mr Lieutenant".
I assume that the most suitable Mr(s)-words in Latin are dominus and domina, but I will be happy to be corrected if that's not the case. This question gives some support for the assumption.
Was such a word ever used in Latin in front of a title? Were there situations (perhaps in a specific era and area) where a title needs to be accompanied with dominus/-a? Is it safe never to use a word like dominus/-a with a title?
I have understood that such a word would not be used in classical Latin, so the question concerns Latin from 500 CE to today. If you think the question is too broad this way, let me know.