Where there is a law, there must be a punishment. If there were no punishment, would anyone ever be afraid to break the law?
There are laws in heaven as well as on earth. To return and live in heaven, we must follow the laws of heaven.
God is good. God is just. Gods decrees commandments. His commandments are law.
God’s commandments are for OUR benefit. He gives commandments because he loves us.
Following his commandments bring blessings. Disobeying his commandment bring sorrow. Our Heavenly Father does not will sorrow for us. He loves us. However, sorrow is a natural consequence of us choosing to disobey.
God gave us the freedom to choose. He does not (and will not) compel us to be good. It is our choice.