There is a HUGE difference between living as an enslaved person of a household, and living as a son or a daughter of that household.
An enslaved person has the will of the master FORCED upon him. He has no rights, is often mistreated, and is required to do what is commanded of him.
Whereas a son or a daughter is at home in that same household, is part of that family, has a vested interest in how things go, and sees the benefit of obeying the authority - not just doing so to avoid punishment.
Romans 8:15 says, "For you did not receive the spirit of bondage again to fear, but you received the Spirit of adoption by whom we cry out, “Abba, Father.”
We have two spirits to choose from: one that is bondage, and the result of choosing that spirit is FEAR. The other spirit is one of adoption, of being a child of God, and the result of choosing that spirit is the ability to call God Papa, Daddy!