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Imam Ja‘far al-Ṣadiq (as):
Worshippers is of three types: some people worship God out of fear, and that is the worship of slaves; other people worship God seeking reward, and that is the worship of hirelings; and some people worship God out of love for Him, and that is the worship of those who are free, and that is the most excellent worship.
al-Kāfī