In this life, God has given us an amazing gift, the gift of choice. He does not demand worship, but instead gives humanity the option to decide for themselves if they want to follow Him.
According to Merriam-Webster to choose means to select freely and after consideration. A choice is voluntary, not forced upon us, but instead the ability to make a decision according to our own liking.
God has placed within man the ability to voluntary and spontaneously worship Him. He has also given us the option to choose not to worship Him. God does not demand that we choose good over evil or even something productive over something destructive. God has given us the option to decide for ourselves. During creation God could have very easily pre-programmed humanity to worship Him. But what value is there in receiving worship from someone who has no other choice? Forced worship is not very meaningful.
“And if it is evil in your eyes to serve the LORD, choose this day whom you will serve, whether the gods your fathers served in the region beyond the River, or the gods of the Amorites in whose land you dwell. But as for me and my house, we will serve the LORD.” – Joshua 24:15