Yet the One Whom Christians follow labored and gave of Himself to the point that He needed to sleep in boats and didn't have time to eat. He picked up a rough, heavy, shameful cross and carried it. True discipleship includes all these things, and hardships and stress with it, yet true discipleship does not include legalism. Real Christianity has heard the Lord say that unless one takes up his own cross daily and follows Him, he cannot be a disciple. Real worshippers know that God meant what He said and said what He meant in proclaiming that faith without works is dead.
Legalism really has a very narrow definition.
A legalist is one who consciously maintains that by obedience to the Law of God, he is able to stand in a right relationship with God. His trust for his salvation is in his own works. The legalist's posture is far different from the attitude of the person who knows how exceedingly broad in application the Law is, requiring obedience in the innermost thoughts and desires as well as in word and deed, who knows that in himself he could never measure up, and yet who delights in the Law. This one has learned that Jesus Christ is His wisdom and righteousness - by Whom he stands in a right relationship with God, clothed with a perfect righteousness. I have been crucified with Christ.