So if we are made to worship God and serve His will?

How does that work for us? Now don't get me wrong I do worship God and I am happily a christian but recently I decided to really devout myself to the path. I am curious if the scriptures say we are made for His joy, doesn't that sound a bit... slaving? I am trying to come to terms with this and understand why exactly He would say such a thing. I mean if we are made fully for Him, don't we get to be happy? I mean is He there for us while we are there for Him? Is giving our life fully to God going to help us in the long run?