So our life with God is in the deepest sense an enjoyment of him…. In the end, one cannot glorify God without enjoying him. The goal expressed by WSC, 1, is, in the most profound sense, not twofold, but one. God desires to share his glory with his people, his image, his sons and daughters, his bride. He is not like Molech (Lev. 18:21), the false god who demanded human sacrifice. Rather, our God delights in the fulfillment of human potential.
Grudging obedience is not what he desires of us. It may be better than no obedience at all, but it is seriously defective. We should seek, not only to obey him, but also to delight in obedience. That delight comes from prayer and supplication with thanksgiving, through immersion in the words of Scripture and the hearts of the great saints of redemptive history, and through fellowship of the church in Word and sacrament.
John Frame, The Doctrine of the Christian Life, 306.