thoughts on ‘Living for Jesus’ lyric

This is on my mind because today in church they sang this. Verse one goes like this.

Living for Jesus, a life that is true, Striving to please Him in all that I do; Yielding allegiance, glad-hearted and free, This is the pathway of blessing for me. 

Is it really yielding allegiance, glad-hearted, and free when one is doing so to avoid torments in hell? Maybe it’s more like coercion.