"his ‘free’ lovers and servants"

Joshua Crossing the Jordan River
Public DomainJoshua Crossing the Jordan River
There are a number of Bible passages that suggest God wants his people to choose to worship him freely, without obligation:

'But if serving the LORD seems undesirable to you, then choose for yourselves this day whom you will serve, whether the gods your forefathers served beyond the River, or the gods of the Amorites, in whose land you are living. But as for me and my household, we will serve the LORD' (Joshua 24:15).

'Do not envy a violent man or choose any of his ways' (Proverbs 3:31).