What is liberated worship?

When Moses finds the burning bush and meets God in the sacred valley, God summarises for him the aim of life:

إِنَّنِىٓ أَنَا ٱللَّهُ لَآ إِلَـٰهَ إِلَّآ أَنَا۠ فَٱعْبُدْنِى وَأَقِمِ ٱلصَّلَوٰةَ لِذِكْرِىٓ ١٤

“I am God; there is no god but Me. So worship Me and keep up the prayer so that you remember Me.” — Qur’an 20:14

What does it mean to worship and remember God? We know through our studies and Islamic-law what are the best ways to worship God — which actions are pleasing and displeasing to Him. How to perform our prayers in a way that is inline with the best of manners and pleasing to God.

وَمَن يَأْتِهِۦ مُؤْمِنًۭا قَدْ عَمِلَ ٱلصَّـٰلِحَـٰتِ فَأُو۟لَـٰٓئِكَ لَهُمُ ٱلدَّرَجَـٰتُ ٱلْعُلَىٰ ٧٥

“Those who return to their Lord as believers with righteous deeds will be rewarded with the highest of ranks” — Qur’an 20:75

God makes reference in the Qur’an to ranks of believers. In this life we see many ranks of believers.

Imam Ali has said worship can be of three kinds:

1. Worshipping God out of fear of Him and His punishment — this is a low  state, worshipping like a slave.
2. Other people worship God seeking his reward and bliss in the after-life. This is the middle state — the worship of merchants hoping to do something now in exchange for something later.
3. Finally the best of people worship God, most exalted is He, out of gratitude and only because of their love for Him — this is the most excellent worship and is the worship of the free and liberated mind.

اَللّٰهُمَّ أَعِنِّيْ عَلَىٰ ذِكْرِكَ وَشُكْرِكَ وَحُسْنِ عِبَادَتِكَ.

Allāhumma aʿinnī ʿalā dhikrika wa shukrika wa ḥusni ʿibādatik.

O Allah, help me in remembering You, in being grateful to You, and in worshipping You in an excellent manner.