"As for me and my house, we will serve the LORD." – Joshua 24:15
As human beings, we all are wired to serve someone and something. The choice is open to us, whom we shall serve? Joshua calls upon the people to make their choice, as for Joshua and his house decided to serve the LORD. God would not force them. God has told us not to serve Him as though he needed anything- Acts 17:25. Everything belongs to the Lord, including us. He loved us enough to send His Son to pay the price for our sins. We need to serve God for the reverence we have for Him, in sincerity and truth, i.e., to serve God by giving ourselves completely to Him. Our bodies, mind, soul, heart and our physical body are to be used for God. If we love and serve God wholeheartedly, we will be able to put away the false gods or idols among us.
We serve Jesus because He restored us to God by His perfect sacrifice. Our sacrificial service to God of our time, talents, and treasure is simply a reasonable response to all that He has done for us.