Serving God demands our love and obedience to Him, and we "serve the LORD with gladness!"
"And the people said unto Joshua, Nay; but we will serve the LORD. And Joshua said unto the people, Ye are witnesses against yourselves that ye have chosen you the LORD, to serve Him. And they said, We are witnesses. Now, therefore, put away, said he, the strange gods which are among you, and incline your heart unto the LORD God of Israel. And the people said unto Joshua, The LORD our God will we serve, and His voice will we obey."