What’s the difference between a squirrel that runs straight up to a man, climbs on his shoulders, eats from his hands, and then goes to sleep on his lap, and a wild squirrel who won’t go near him? Trust. Trust fills that squirrel with joy and causes it to behave very differently to a wild squirrel.
So it is with us when we know how good God is. The more we know that God loves us, the more we will trust him, and the more he will be our joy and strength.* (I belong to God, and so do you. He made us and he loves us. He will never give up on any of us. See here.)
Now some people think that God must not love us because he asks us to do things we do not want to do (like forgive people we would rather not forgive), or because he does not always give us what we want. But if a person really loves you they might ask you to do some difficult things, and they may not give you want.**
If you love an alcoholic, and he asks you to buy him a drink, will you? If you really care about your friend, you won’t buy that drink, even though you want him to be happy. If all he’s thinking about is his immediate happiness, he might think you don't care about him because you won’t give him what he wants.
Man finds it hard to get what he wants, because he does not want the best; God finds it hard to give, because He would give the best, and man will not take it. ~ George MacDonald
It follows that it is easy to get what is best if I desire what is best. (For an in-depth look at what it means to desire and have what is best read Castle Warlock.) Many people are not happy even when they get what they want; they are not happy because what they desire is not the thing that can bring them true happiness.
When we are truly free, we will want what is best. We will want what God wants. The best gifts God can give us are to make us like Christ: honest, fair, brave and kind; and give us intimacy with himself. He wants to make our hearts free and our wills strong.
God loves us and wants us to know what is best.
The highest form of self-service is to trust and obey Jesus. In doing this we find joy in loving others and loving God. MacDonald was right when he said, "Love makes everything lovely." Jesus valued intimacy with his Father above all else. He knew he could only enjoy intimacy with his Father while he trusted and obeyed him.*** God's will is life.
Am I saying that I always do God’s will? No. I have a long way to go before God finishes making me. I don't always find as much joy in doing God’s will as Jesus did. Sometimes life can be very stressful; and if I’m not careful people will get the better of me. When I get angry or frustrated and desire to harm instead of help, I have to tell God I’m sorry and ask for his help. In other words, I’m growing to value my relationship with God above all else. I am slowly becoming like Christ. And because of this, I am no longer enslaved to many of the things that once enslaved me. God wants us to know the joy of doing what seems impossible. (Without God's help doing his will is impossible.) He wants us to overcome the world, instead of being overcome by it. The more a man is what a man was meant to be, the freer that man will be.
Like anything worth having, gaining freedom from sin will require real struggle. Sometimes it will be physically and emotionally demanding. (Fortunately God gives his Spirit to those who set their heart on obeying him. See Acts 5:32.) It is not natural to the weak willed to go the extra mile. It is not natural for a slave to sin to admit to being wrong and to ask God for help. But to all those who set their hearts on being intimate with God and so set about obeying Jesus, God will set free.
*God’s essence is perfect love, he knows what is best. For an in-depth discussion of how God’s perfect love is expressed in everything he does see The Inescapable Love of God by Thomas Talbott.
**Only when we are perfect, and all things are made perfect, will we have all that our hearts desire. People may seek power, pleasure, or meaning more than anything else but it is intimacy that we all truly desire. It is intimacy with God expressed as love towards people that empowers, pleases, and gives us the deepest possible meaning. This is life, and it is life to the full (see John 10:10).
***Having what we most desire does not mean we have all the things we desire. We will not have all the things we desire until all things are made new. When Jesus was crucified, he did not enjoy what was being done to him; but he did find joy in doing his Father's will. It is for the same reason that Paul could rejoice while in prison. God's will is liberty. See The Hope of the Gospel by George MacDonald. If you don’t know what God wants from you read the book of Luke. And then do the thing that is placed right in front of you.