He wants us to see serving Him and worshipping Him as an expression of our love for Him, because He loved us first though we didn’t deserve it and can do nothing to earn His love.
Ritualism is all about the rules. Your heart can be in the right place, of course, because you can sincerely want to follow the rules, but, every time a situation crops up, you have to whip out your little rulebook and see what you are supposed to do, and, if your situation isn’t in the rulebook, you panic, because you don’t know what you are supposed to do. With the new law of love Jesus gave, we don’t have to panic any more. We know that we are supposed to act out of love of God and one another at all times, so we always know how we are supposed to act, and we also are (or should be…) always acting out of love, so there is not the risk of us just approaching our faith like it is a thing to check off on a cosmic to-do list.