I think the point of beis din being able to force is that Mitzvos are not optional, done voluntarily. Its like a man providing for his family; he ought to WANT to do it, but at the end of the day he is obligated to do it, like it or not, and that is enforceable in court. So too the Mitzvos are something we want to do, but we are also obligated to them, and Beis Din (once) enforces it.
Nowadays we don’t enjoy having to do anything. We want it to be all our choice. But that is not servitude to Hashem. That is being our own boss.
I think its a wonderful message!