Username quoted Tanya at length, and in a later post he wrote “So sure, we do Mitzvos because that’s what Hashem wants, but at the same time, Hashem wants a דירה בתחתונים, which means that Hashem wants Moshiach. All we’re saying is that these three “wants” are connected.”
The point that I was making, and which I said I believe is the hashkofa of all non-lubavichers (and, I guess, all lubavichers before they became “obsessed” with Mashiach) is that the entire concept of DIrah Batachtonim is what Hashem wants – נתאווה לו יתברך – but it is NOT why we perform mitzvos. The ONLY reason we perform mitzvos is because Hashem commanded them. His reason for doing so is not our reason for performing them.
To use a very simple moshol hedyot, a mother tells her son to eat breakfast. Her reason for doing so is so that he will have the necessary strength to function properly at school. But as far as the Torah is concerned his ONLY reason for eating breakfast is to be mekayem kibbud eim and do what his mother says.
If he starts making cheshbonos that the reason his mother told him to eat is to give him strength, he is very likely to decide that he has enough strength, or that he will eat later, and the like, and he may not be mekayem kibbud eim.