When the senses have no desire for any objects and they have no impulsion whatsoever towards any personalistic action, and one has inwardly renounced all motives of every kind, then it is that one is established in Yoga. Yoga is a step that we take in the direction of establishment in impersonality, whatever be the degree of it. And every personalistic will or desire or action is a rootedness in personality. Impersonality is Yoga, which is attained by the stages mentioned in the Yoga scriptures. It is, again, mentioned that Yoga is the concentration which the lower self practices on the immediately superior, higher Self.
All love is self-love in various connotations of the meaning of self.
It is not without meaning that the metaphysicians of the Upanishads tell us that the whole universe is the Self, the Atman is all things. But one has to be careful, again, in understanding what the Upanishads mean, or the Bhagavadgita intends, or anyone connotes. When they say that the Self and the universe are identical, it is easy to misunderstand the statement and it is hard to make out the significance thereof. The urge of the senses towards the objects is the action of the self. It is the self that is propelling the senses towards the objects through the instrumentality of the reason and the mind, to come in union with the objects, under the impression that union with objects is the satisfaction of the self.