Can we better our relationship with Hashem, and make it more joyous?

what is this idea of fearing fearing Hashem that when somebody serves Hashem out of fear because I'm afraid of punishments I want rewards he says that's not real the says I'm serving myself we want to look for a deeper relationship for much more wholesome and I would say also a much more joyous relationship the real idea of that I'm afraid to ruin such an amazing relationship it's not I'm afraid that you're going to punish me it's much more beautiful than that it's not even if you're going to punish me or not I'm afraid to ruin such an amazing opportunity