Both are called avodah

The will implies control in the left hemispheric context of use and tool-making; the will implies longing in the right hemispheric context of care and relationship. 

Caring and contentment is analogous to production and consumption. 

The pull one feels to some way of being with someone or some way of being in the world is a yearning that belongs to a different class of experience than the mere application of tastes and preferences. 

We move for utilitarian objectives and we move in prayer and worship. Both are called avodah. 

To ‘be with’ is to exercise right hemispheric will.