If the law is "for us", it is supposed to be for our benefit and it should not constrain us from freedom and flourishing. We tend to judge laws this way. We understand "benefit", "freedom", and "flourishing" from the default perspective of our culture and our biological nature. In the frame of "for us", our well-being takes center stage. Laws both threaten what is most valuable to us (our well-being as we understand it, by constraining us from what we would naturally do for ourselves) and must justify that threat by ultimately leading to more well-being (more freedom and flourishing as we understand them).
If the law is "for God", it is something that we obey because we love God. The law is something that God desires, and because we value God, we want to bring about states of affairs that he values. We obey him for his benefit, so that he is loved. A law that is not engineered primarily "for us" (as we understand human well-being) may constrain us from freedom and flourishing as we understand them by default.
Laws that are "for us" need to be "for God" in order to be really best for us.
An example of the difference between the "for us" and "for God" approach, from a Biblical perspective: baptism. Is baptism something that we are required to undergo? Jesus says "Go and make disciples of all nations, baptizing them in the name of the Father and of the Son and of the Holy Spirit, teaching them to observe all things that I commanded you." (Matthew 28:19-20a). It seems as though baptism is something that Jesus wants us to undergo. Is it only for disciples? Maybe. But who should be a disciple? He says "If anyone desires to come after me, let him deny himself, and take up his cross, and follow me" (Matthew 16:24) and "he who doesn't take his cross and follow after me, isn't worthy of me" (Matthew 10:38). If you love God with all of your heart, why wouldn't you become a disciple of Jesus? And how would you fit into heaven if you don't love God with all of your heart?
I think you could argue from a "for us" perspective that baptism is not necessary. For instance by saying that those who are unworthy of Jesus can still be saved (although we couldn't rule out that Matthew 10:38 indicates Jesus' preference for us to be worthy of him), or that if Jesus really meant for baptism, or discipleship, to be requirements, he would have said so more clearly. It would be unfair for God to punish us for not being baptized, or for not becoming a disciple. But from a "for God" perspective, baptism is something we will feel the need to do, unless perhaps God reveals sometime in the future that he never did or no longer does desire it or prefer it. If we are oriented "for God" instead of "for us", we seek out ways to love God, beyond the minimum. Yet, in the end, being "for God" is the minimum.
(One objection: what if you intend to get baptized but die on the way to the baptism? Baptism can be done in the Millennium, if something prevents us from undergoing it in this life. Likewise, if you do not become a disciple in this life, you can in the Millennium. Another objection: Perhaps there is a chance that God wants us to perform the Law of Moses, or some version of it. If we should be baptized, shouldn't it be the case that we ought to keep the whole Law? The Law is much more difficult to keep than it is for us to be baptized. Someday when we are mature enough as individuals and as a society, we may keep some version of the Law, "for God". (In this life, Jesus says "my kingdom is not of this world" (John 18:36) so that gives us reason not to create a theocratic implementation of the Law (enforcing it by force).)
We pursue law "for us" at first, and one law is "Love God". We pursue law out of fear for our well-being. But if we love God, that love drives out fear. So then we do not care as much about salvation. In order to be saved, we have to let go of making salvation our number 1 concern, important though it is. At that point, we can be "for God".
Just as love transforms your relationship with salvation, it transforms your relationship with law. You love law, as an opportunity to love God, a serious love (but also a joyful one, for some meaning of "joy").
A law that is truly "for God" is one that we pursue out of love. Whereas laws that are "for us" might not be pursued out of love.
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