The word mitzvah comes from the word “Tzav” to command. In addition, it also comes from the word “Tzavsa Vecheebor”, which is defined as connection because it is through the commandments -to fulfill mitzvos- that we achieve a relationship and a connection with Hashem. This is emphasized by the very fact that He commands us even before we actually act upon His command. This applies to every single Jew. Although one might sin, it says that despite anything that may occur, you are still a Jew -and every Jew wants to do what Hashem commands. Occasionally one may gets distracted and that’s why the language that we use is Tzav which means urgency/ with certainty, because Hashem is certain that we are going to do the Mitzvos.

לקו״ש ז