From the beginning with God walking with Adam in the Garden, God has always wanted a relationship with us, and the whole point of God's commands is to teach us how to grow in a relationship with Him based on faith and love. God has always disdained it when His people outwardly obeyed His commands while inwardly their hearts were far from Him because that is again missing the whole point of His commands. Obeying God because we fear being punished is likewise missing the point. There is a type of fear of being separated from someone who is holy, righteous, good, just, powerful, and unsafe, and a type of fear of being close to someone who is unholy, unrighteous, evil, unjust, powerful, and unsafe, and the type of fear of God that is the beginning of wisdom is the first type. Hell is separation from God and our fear of being separated from God should drive us to follow His instructions for how to draw near to Him and to grow into a deeper relationship with Him.