Freedom from physical bondage is only bottom-level freedom. Freedom from bodily urges, such as substance dependancy, overeating and debauchery is higher level freedom; alcohol, drugs, tobacco, and lust incarcerate a person worse than a state pentitentiary.
Highest level freedom is freedom of the mind, when a person breaks the ball-and-chain servitude to conformity. One reaches the pinnacle of freedom when mobilizing his or her entire mental and physical resources in the service of The Creator. A servant of G-d is a master of body and soul.
The great benefit of being The King's servant is that one is free from serving anyone and everyone else. No feeling is as refreshing and exhilerating as real freedom, doing what you know and believe is right.