Commands & God's Heart

So, I think sometimes we get so caught up in the commands in scripture that we lose sight of God's heart. How often do we stop ask, "Why did God give this command?" God's commands come from the flow of His heart. They were not a list of commands that one day He sat down and wrote. His commands are actually eternal. They have always existed because of His attributes, because of the very essence of God.
Sometimes I think we use God's commands to pursue happiness for ourselves. We just are "using" him as a means to happiness. While it is true that if we obey his commands we will have blessing, we actually miss out on something bigger and better. But when we are obeying His commands because we are seeking His heart we will begin experiencing a relationship with Him.
If it seems like following God's commands just isn't working, perhaps a close exam of my heart will be needed. IT could be, like I posted about before, that I haven't started with that brokness of heart and my motivation for following his commands may be pretty much my perspective--I see his commands just as a list of rules to obey to make me happy. I could just be viewing it as a checklist of sorts that I am checking off and totally ignoring what He really wants me to be doing.
My motivation could also be because I am trying to meet the approval of men. This motivation can eventually lead us to a life feeling like we are failure and we can never do it right or meet up to the standards. But if our focus is on God's Heart then we will see His patience when we fail, His forgiveness when we need it, and His grace to pick us up and go again. If my focus is on the commands then I will just frustrate myself. I will always feel like I can't measure up.
I think that if we truly are seeking His heart we will be in the Word and be prayerful, but we will also be thinking submissively, "Why did God give this command?" "How can I obey the heart of it?" "How can I serve the heart of God today?"
Di