There is existential joy in reciprocated familial love and delight.
For the LORD delights in his people; he adorns the humble with salvation.
Psalm 149:4
Take delight in the LORD, and he will give you the desires of your heart.
Psalm 37:4
One thing, one of the primary things, we should be desiring is in the first petition of the Lord’s Prayer, “Hallowed be thy name!” – I want you to be renowned. (If I owned a Lamborghini, I would be jealous for its brand. )
It’s also about obedience.
Loving God means keeping his commandments, and his commandments are not burdensome.
1 John 5:3
And there might be existential reward involved, too. I love the present continuous tense of the YLT: