Psa. 37:4 Delight yourself also in the Lord, and He will give you the desires and secret petitions of your heart.
Doing your duty in your relationship with God is better than total disobedience, I guess; but He isn’t looking for duty, He is looking for delight. “I delight to do thy will, O my God; Thy law is within my heart.” God is love, and He paid a huge price so that we could be in relationship with Him. He is not looking for servants; though lovers joyfully want to serve. He is looking for Worshipers; Adorers.
It doesn’t move His heart for you and I to simply obey, or do our duty because we have to, or we are supposed to; instead He is looking for Delighters who long, out of affection, to please Him. Delighters stir His heart, and move His heart to action. That is why, though He loved Martha as much as He loved Mary, it was Mary, The Delighter, that moved Him to action to raise Lazarus from the dead in John 11.
Don’t make Psalm 37:4 complicated. Take it for what it says. Those who Delight in The Lord, as a way of life stir Him Up from His resting place. Zechariah 2:13. The one who longs for, and rejoices over Jesus more than anything He can give, is likely to have whatever he asks, because he is not likely to ask amiss.
He wants to be enjoyed, not just served.