True joy comes into being by the true freedom of living for the sake of others. True freedom means to know God accurately. God's essence is heartistic freedom. Freedom is expensive, public, and involves love and responsibility. Therefore, we can't gain freedom unconditionally and freely.
Love needs a partner, so freedom is public.
The one who knows is responsible. If you don't practice, although you know, then you are a sinner. Responsibility is to take the active role. Evading responsibility makes no progress. Little responsibility makes little progress.