[quote="m_p_w, post:3, topic:443580"]
But by my understanding, we have a choice to "live a life in service of others for the simple reason for love of God"
You are right, it is difficult to understand, but let me put it to you in the terms of marriage. A wife has free will, she can do as she pleases, she can choose to do things that make her husband happy or to do things that make her husband unhappy. However, when she submits to her husband's will it does not mean she has given up her own free will, it means she does his will. Same with the husband, he should submit to his wife's will and do what makes her happy.
Now to complicate it further, I, personally, look at my relationship with God as that of a slave. I have a free will, but I give it up, I want to be a slave not only of God but of the Blessed Mother. That in all things God's will is done. Do I still have free will, you better believe it, watch me go into the confessional, often! A slave has no will but that of his/her master, that's what I want. I want my only will to be the will of God. Do I still exercise my own will at times, yes, I'm human, even when I want something so badly, I fail.