Psalms 100:1-5: in context

This short psalm is a call to joyful worship. Shout for joy to the LORD, all the earth; serve the LORD with gladness; come before his presence with singing. Know that the LORD is God; he made us, and we are his, the sheep of his pasture. Enter his gates with thanksgiving and his courts with praise; give thanks to him and bless his name. And it grounds the call in who God is: the LORD is good; his loving kindness endures forever, his faithfulness to all generations.

The phrase worth dwelling on is the call to serve the LORD with gladness. Worship and service of God are not to be grudging duties, performed with a heavy heart because we must, but glad and joyful, offered with singing and thanksgiving. God calls us to serve him with gladness, to come before him with joy, to worship him not as a burden borne but as a delight. And the psalm grounds this joy in who God is: he is good; he made us and we are his; his love endures forever. Because of who God is, good, our Maker, our shepherd, faithful, our service of him is meant to be glad. There is a corrective here for how we often approach God. We can come to worship and service as to a duty, something we ought to do, performed with a sense of obligation rather than joy, grudging rather than glad. The psalm calls us to something better: to serve the LORD with gladness, to worship with joy, to come before him singing. This is not a demand to manufacture feelings we do not have, but an invitation to remember who God is, and to let that remembering give rise to gladness. When we recall that God is good, that he made us and we are his own, that his love endures forever and his faithfulness never fails, joy is the fitting response; and worship becomes not a grim duty but a glad coming before the God who is good. Rejoice in the Lord always, Paul says. The service God wants is not the sullen compliance of a slave but the glad devotion of those who know they are loved, made, and kept by a good God. To serve the LORD with gladness is to worship out of joy rather than mere obligation, remembering the goodness of the God we serve; and the psalm invites us to let our knowledge of who God is turn our service into gladness and our worship into joy.

Do I come to the worship and service of God as to a grudging duty, performed out of obligation rather than joy, or can I heed the call to serve the LORD with gladness, letting my remembering of who God is, good, my Maker, my shepherd, faithful forever, turn my service into gladness and my worship into joy?