Stephen Charnock on the “unspeakable goodness” of God as our motivation for worship:
His sovereignty is managed according to the rule of goodness.
Though his nature be infinitely excellent above us, and his power infinitely transcendent over us, yet the majesty of his government is tempered with an unspeakable goodness. He acts not so much as an absolute Lord, as a gracious Sovereign and obliging Benefactor. He delights not to make his subjects slaves; exacts not from them any servile and fearful, but generous and cheerful obedience. He requires them not to fear, or worship him so much for his power, as his goodness.