Halakhah for Avodah Zarah 37:4
במצותיו חפץ מאד אר"א במצותיו ולא בשכר מצותיו והיינו דתנן הוא היה אומר אל תהיו כעבדים המשמשין את הרב על מנת לקבל פרס אלא היו כעבדים המשמשין את הרב שלא על מנת לקבל פרס
“Who desires his commandments exceedingly:” R. Elazar said: “His commandments,” but not the reward of His commandments. This is what was taught, “He used to say, Be not like servants who serve the master on the condition of receiving a reward; but be like servants who serve the master without the condition of receiving a reward.”
Sefer HaMitzvot HaKatzar
And we commanded in Chazal (Avodah Zara 19a), who were precise in the box "in his commandments" and interpreted "not in the reward of his commandments." And here is a seeming miracle - the unknown that the reward of mitzvos is that he will enjoy the ziv of the Divine in heaven, which is great in pleasure in its value, which we can not surpass in the mind. And when the sages wanted to reveal to us the greatness of this pleasure, they did not find him a fixed footage, only included him in one great rule, and said (Avot PD Miz): "Beautiful one hour of contentment in the next world from all the life of this world":
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