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The eighth-century spiritual master, and descendent of the Prophet , Imam Ja’far As-Sadiq, taught his students that people worship God in one of three ways: the worship of the slave, who worships God out of fear of punishment; the worship of the merchant, who worships God seeking a reward; and the worship of the free, who worships God out of love and gratitude, which is the best form of worship.17 It is only when we worship the Divine out of love that our worship transforms our entire being. This is the station of ihsan.
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A. Helwa (Secrets of Divine Love: A Spiritual Journey into the Heart of Islam (Studying Qur'an & Hadith Book 2))