Hence we are forever in conflict between what we want and what is allowed. An alternative view is that Freud misconceptualized motivation. He assumed he knew what physical pleasure was. But maybe he didn't. Physical pleasure is actually not physical at all.
All pleasure is motivational satisfaction, a phenomenon of consciousness.
An unconscious person experiences no pleasure of any kind. As it happens, the physically embodied Sensorimotor Self is also not conceptual. Freud felt intuitively that the source of motivation was not conceptual, basically irrational, and he was right about that. He confused the sensorimotor and transcendental centers of consciousness because they are both nonconceptual. The conceptual Social Self, and its world of social values, is at odds with the sources of motivation, just as Freud said.